load_ur10e.launch

<?xml version="1.0"?>
<!-- This file is a copy of "ur_description/launch/load_ur10e.launch".
The file is copied in order to allow us to use a dedicated xacro file
to describe the robot with end effector and sensors. -->
<launch>
  <!--ur10e parameters files -->
  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
  <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
  <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
  <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
  <!--common parameters -->
  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

  <!-- use common launch file and pass all arguments to it -->
  <include file="$(find agimus_demos)/launch/ur10_pointing_load_ur.launch"
	   pass_all_args="true"/>
</launch>