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Disable j23_coupled for robots without parallel arm linkage #139

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Disable j23_coupled for robots without parallel arm linkage #139

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4 changes: 2 additions & 2 deletions abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch
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Expand Up @@ -2,14 +2,14 @@
Manipulator specific version of abb_driver's 'robot_interface.launch'.

Defaults provided for IRB 1600:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb1600.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb1600_support/launch/robot_interface_download_irb1600_8_145.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@
Manipulator specific version of abb_driver's 'robot_interface.launch'.

Defaults provided for IRB 1600:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb1600.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_8_145.yaml" />

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8 changes: 4 additions & 4 deletions abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch
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Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
<!--
Manipulator specific version of the state visualizer.

Defaults provided for IRB 2400:
- J23_coupled = true
Defaults provided for IRB 1600:
- J23_coupled = false

Usage:
robot_state_visualize_irb2400.launch robot_ip:=<value>
robot_state_visualize_irb1600.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />

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8 changes: 4 additions & 4 deletions abb_irb1600_support/launch/robot_state_visualize_irb1600_8_145.launch
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Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
<!--
Manipulator specific version of the state visualizer.

Defaults provided for IRB 2400:
- J23_coupled = true
Defaults provided for IRB 1600:
- J23_coupled = false

Usage:
robot_state_visualize_irb2400.launch robot_ip:=<value>
robot_state_visualize_irb1600.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_8_145.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb52_support/launch/robot_interface_download_irb52_7_120.launch
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Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for IRB 52-7/1.20:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb52_7_120.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb52_support)/config/joint_names_irb52_7_120.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb52_support/launch/robot_interface_download_irb52_7_145.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for IRB 52-7/1.45:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb52_7_145.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb52_support)/config/joint_names_irb52_7_145.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb52_support/launch/robot_state_visualize_irb52_7_120.launch
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for IRB 52-7/1.20:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb52_7_120.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb52_support)/config/joint_names_irb52_7_120.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb52_support/launch/robot_state_visualize_irb52_7_145.launch
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for IRB 52-7/1.45:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb52_7_145.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb52_support)/config/joint_names_irb52_7_145.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6650s_support/launch/robot_interface_download_irb6650s_125_350.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for irb_6650s_125:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb_6650s_125.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6650s_support)/config/joint_names_irb6650s_125_350.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6650s_support/launch/robot_interface_download_irb6650s_90_390.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for irb_6650s_90:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb_6650s_90.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6650s_support)/config/joint_names_irb6650s_90_390.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6650s_support/launch/robot_state_visualize_irb6650s_125_350.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for irb_6650s_125:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb_6650s_125.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6650s_support)/config/joint_names_irb6650s_125_350.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6650s_support/launch/robot_state_visualize_irb6650s_90_390.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for irb_6650s_90:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb_6650s_90.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6650s_support)/config/joint_names_irb6650s_90_390.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6700_support/launch/robot_interface_download_irb6700_200_260.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for IRB 6700-200/2.60:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb6700_200_260.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6700_support)/config/joint_names_irb6700_200_260.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6700_support/launch/robot_interface_download_irb6700_235_265.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for IRB 6700-235/2.65:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb6700_235_265.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6700_support)/config/joint_names_irb6700_235_265.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6700_support/launch/robot_state_visualize_irb6700_200_260.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for IRB 6700-200/2.60:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb6700_200_260.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6700_support)/config/joint_names_irb6700_200_260.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb6700_support/launch/robot_state_visualize_irb6700_235_265.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for IRB 6700-235/2.65:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb6700_235_265.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb6700_support)/config/joint_names_irb6700_235_265.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb7600_support/launch/robot_interface_download_irb7600_150_350.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of abb driver's 'robot_interface.launch'.

Defaults provided for IRB 7600-150/3.50:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_interface_download_irb_7600_150_350.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb7600_support)/config/joint_names_irb7600_150_350.yaml" />

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4 changes: 2 additions & 2 deletions abb_irb7600_support/launch/robot_state_visualize_irb7600_150_350.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
Manipulator specific version of the state visualizer.

Defaults provided for IRB 7600-150/3.50:
- J23_coupled = true
- J23_coupled = false

Usage:
robot_state_visualize_irb_7600_150_350.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of the controller" />
<arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
<arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />

<rosparam command="load" file="$(find abb_irb7600_support)/config/joint_names_irb7600_150_350.yaml" />

Expand Down