• launch/ur10e_3f-gripper_without_world.launch
  • • robot_description_file [default: $(find ur_robotiq_connector)/launch/inc/load_ur10e_with_3f.launch.xml] — Launch file which populates the 'robot_description' parameter.
    • joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
    • kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
    • physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
    • visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
    • controller_config_file [default: $(find ur_gazebo)/config/ur10e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
    • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
    • paused [default: true] — Starts Gazebo in paused mode
    • gui [default: true] — Starts Gazebo gui
    • x [default: 0.0]
    • y [default: 0.0]
    • z [default: 0.01] — At which height the model should be spawned in m. NOTE: lower values will cause the robot to collide with the ground plane.
    • roll [default: 0]
    • pitch [default: 0]
    • yaw [default: 0]
• launch/ur10e_3f-gripper.launch
  • • robot_description_file [default: $(find ur_robotiq_connector)/launch/inc/load_ur10e_with_3f.launch.xml] — Launch file which populates the 'robot_description' parameter.
    • ur_joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
    • ur_kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
    • ur_physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
    • ur_visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
    • ur_controller_config_file [default: $(find ur_gazebo)/config/ur10e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • 3f_controller_config_file [default: $(find robotiq_3f_gripper_articulated_gazebo)/config/robotiq_3f_controller.yaml] — Config file used for defining the ROS-Control controllers.
    • controllers [default: ur_joint_state_controller eff_joint_traj_controller robotiq_joint_state_controller robotiq_3f_controller] — Controllers that are activated by default.
    • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
    • debug [default: false] — Activates the debug mode.
    • enable_ros_network [default: true]
    • gazebo_model_name [default: robot] — The name to give to the model in Gazebo (after spawning it).
    • gazebo_world [default: worlds/empty.world] — The '.world' file to load in Gazebo.
    • gui [default: true] — If true, Gazebo UI is started. If false, only start Gazebo server.
    • gui_required [default: false]
    • output [default: screen]
    • paused [default: true] — If true, start Gazebo in paused mode. If false, start simulation as soon as Gazebo has loaded.
    • physics [default: ode] — ODE is the default Physics-engine, Bullet and Dartsim are also implemented.
    • pub_clock_frequency [default: 100]
    • recording [default: false]
    • respawn_gazebo [default: false]
    • robot_description_param_name [default: robot_description] — Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo.
    • start_gazebo [default: true] — If true, Gazebo will be started. If false, Gazebo will be assumed to have been started elsewhere.
    • server_required [default: false]
    • use_clock_frequency [default: false]
    • use_sim_time [default: true]
    • verbose [default: false]
    • spawn_x [default: 0.0] — x in meters.
    • spawn_y [default: 0.0] — y in meters.
    • spawn_z [default: 0.1] — z (height) in meters. NOTE: lower values will cause the robot to collide with the ground plane.
    • spawn_R [default: 0.0] — roll in radians.
    • spawn_P [default: 0.0] — pitch in radians.
    • spawn_Y [default: 0.0] — yaw in radians.
    • spawn_shoulder_pan [default: 0.0]
    • spawn_shoulder_lift [default: 0.0]
    • spawn_elbow [default: 0.0]
    • spawn_wrist_1 [default: 0.0]
    • spawn_wrist_2 [default: 0.0]
    • spawn_wrist_3 [default: 0.0]
    • spawn_f1_j1 [default: 0.0]
    • spawn_f1_j2 [default: 0.0]
    • spawn_f1_j3 [default: 0.0]
    • spawn_f2_j1 [default: 0.0]
    • spawn_f2_j2 [default: 0.0]
    • spawn_f2_j3 [default: 0.0]
    • spawn_mid_j1 [default: 0.0]
    • spawn_mid_j2 [default: 0.0]
    • spawn_mid_j3 [default: 0.0]
    • spawn_palm_f1 [default: 0.0]
    • spawn_palm_f2 [default: 0.0]
• launch/inc/load_ur_with_3f.launch.xml
  • • ur_joint_limit_params — YAML file containing the joint limit values
    • ur_kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
    • ur_physical_params — YAML file containing the phycical parameters of the robots
    • ur_visual_params — YAML file containing the visual model of the robots
    • ur_transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
    • ur_safety_limits [default: false] — If True, enable the safety limits controller
    • ur_safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
    • ur_safety_k_position [default: 20] — Used to set k position in the safety controller
• launch/inc/ur_control_without_world.launch.xml
  • • controller_config_file — Config file used for defining the ROS-Control controllers.
    • controllers [default: joint_state_controller eff_joint_traj_controller]
    • stopped_controllers [default: joint_group_eff_controller]
    • gazebo_model_name [default: robot] — The name to give to the model in Gazebo (after spawning it).
    • robot_description_param_name [default: robot_description] — Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo.
    • x [default: 0.0]
    • y [default: 0.0]
    • z [default: 0.1] — At which height the model should be spawned. NOTE: lower values will cause the robot to collide with the ground plane.
    • roll [default: 0]
    • pitch [default: 0]
    • yaw [default: 0]
• launch/inc/controller_utils.launch.xml
  • • ur_controller_config_file — Config file used for defining the ROS-Control controllers.
    • 3f_controller_config_file — Config file used for defining the ROS-Control controllers.
    • controllers [default: joint_state_controller eff_joint_traj_controller robotiq_joint_state_controller robotiq_3f_controller]
    • stopped_controllers [default: joint_group_eff_controller]
    • debug [default: false] — Activates the debug mode.
    • enable_ros_network [default: true]
    • gazebo_model_name [default: robot] — The name to give to the model in Gazebo (after spawning it).
    • gazebo_world [default: worlds/empty.world] — The '.world' file to load in Gazebo.
    • gui [default: true] — If true, Gazebo UI is started. If false, only start Gazebo server.
    • gui_required [default: false]
    • output [default: screen]
    • paused [default: true] — If true, start Gazebo in paused mode. If false, start simulation as soon as Gazebo has loaded.
    • physics [default: ode] — ODE is the default Physics-engine, Bullet and Dartsim are also implemented.
    • pub_clock_frequency [default: 100]
    • recording [default: false]
    • respawn_gazebo [default: false]
    • robot_description_param_name [default: robot_description] — Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo.
    • start_gazebo [default: true] — If true, Gazebo will be started. If false, Gazebo will be assumed to have been started elsewhere.
    • server_required [default: false]
    • use_clock_frequency [default: false]
    • use_sim_time [default: true]
    • verbose [default: false]
    • spawn_x [default: 0.0] — x in meters.
    • spawn_y [default: 0.0] — y in meters.
    • spawn_z [default: 0.1] — z (height) in meters. NOTE: lower values will cause the robot to collide with the ground plane.
    • spawn_R [default: 0.0] — roll in radians.
    • spawn_P [default: 0.0] — pitch in radians.
    • spawn_Y [default: 0.0] — yaw in radians.
    • spawn_shoulder_pan [default: 0.0]
    • spawn_shoulder_lift [default: 0.0]
    • spawn_elbow [default: 0.0]
    • spawn_wrist_1 [default: 0.0]
    • spawn_wrist_2 [default: 0.0]
    • spawn_wrist_3 [default: 0.0]
    • spawn_f1_j1 [default: 0.0]
    • spawn_f1_j2 [default: 0.0]
    • spawn_f1_j3 [default: 0.0]
    • spawn_f2_j1 [default: 0.0]
    • spawn_f2_j2 [default: 0.0]
    • spawn_f2_j3 [default: 0.0]
    • spawn_mid_j1 [default: 0.0]
    • spawn_mid_j2 [default: 0.0]
    • spawn_mid_j3 [default: 0.0]
    • spawn_palm_f1 [default: 0.0]
    • spawn_palm_f2 [default: 0.0]
• launch/inc/load_ur10e_with_3f.launch.xml
  • • ur_joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
    • ur_kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
    • ur_physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
    • ur_visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
    • ur_transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
    • ur_safety_limits [default: false] — If True, enable the safety limits controller
    • ur_safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
    • ur_safety_k_position [default: 20] — Used to set k position in the safety controller

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