<?xml version="1.0"?>
<!--
  Universal robot ur5 launch.  Loads ur5 robot description (see ur_common.launch
  for more info)

  Usage:
    ur5_bringup.launch robot_ip:=<value>
-->
<launch>
  
  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
  <arg name="robot_ip" default="192.168.50.100"/>
  <arg name="limited" default="false"/>
  <arg name="min_payload"  default="0.0"/>
  <arg name="max_payload"  default="5.0"/>
  <arg name="prefix" default="" />
  <!-- robot model -->
  <include file="$(find ur_description)/launch/ur5_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>
  
  <!-- ur common -->
  <include file="$(find ur_modern_driver)/launch/ur_common.launch">
    <arg name="prefix"  value="$(arg prefix)" />
    <arg name="robot_ip" value="$(arg robot_ip)"/>
    <arg name="min_payload"  value="$(arg min_payload)"/>
    <arg name="max_payload"  value="$(arg max_payload)"/>
  </include>

</launch>
