| <launch> | |
| <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." /> | |
| <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /> | |
| <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> | |
| <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> | |
| </launch> | |