added possibility to change reverse_port, script_sender_port and traj…

…ectory_port (#105) (#106) Co-authored-by: Felix Durchdewald <[email protected]>
UniversalRobots · Oct 10, 2023 · 60cbb20 · 60cbb20
1 parent dc37852
commit 60cbb20
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
@@ -27,6 +27,9 @@
    <xacro:arg name="input_recipe_filename" default=""/>
    <xacro:arg name="reverse_ip" default="0.0.0.0"/>
    <xacro:arg name="script_command_port" default="50004"/>
+   <xacro:arg name="reverse_port" default="50001"/>
+   <xacro:arg name="script_sender_port" default="50002"/>
+   <xacro:arg name="trajectory_port" default="50003"/>
    <!--   tool communication related parameters-->
    <xacro:arg name="use_tool_communication" default="false" />
    <xacro:arg name="tool_voltage" default="0" />
@@ -88,6 +91,9 @@
      input_recipe_filename="$(arg input_recipe_filename)"
      reverse_ip="$(arg reverse_ip)"
      script_command_port="$(arg script_command_port)"
+     reverse_port="$(arg reverse_port)"
+     script_sender_port="$(arg script_sender_port)"
+     trajectory_port="$(arg trajectory_port)"
      >
      <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
    </xacro:ur_robot>