diff --git a/CHANGELOG.md b/CHANGELOG.md
index f1723150187846044a768f8c333735207620fd9a..8b13b4b63ec145d7ddce4c881b4993c8e98909b2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
# CHANGELOG
+## 0.4.0 - UNRELEASED
+
+ * Removed default `robot_ip` from launchfiles
+
## 0.3.0 - 2018-02-22
Requires `libfranka` >= 0.3.0
diff --git a/franka_control/config/franka_control.yaml b/franka_control/config/franka_control.yaml
index 52e2e2871912654af44dcecdd1f26c75401cd791..f61ffb3bdc9b221ce6ccbdac7d78bfc7e9d2eb76 100644
--- a/franka_control/config/franka_control.yaml
+++ b/franka_control/config/franka_control.yaml
@@ -6,6 +6,4 @@ joint_names:
- panda_joint5
- panda_joint6
- panda_joint7
-
arm_id: panda
-robot_ip: 127.0.0.1
diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 1b2fe028515f3a31e33037665c0e09f0020c99ae..536a3db16e1cb688420eb33e044a7c95a2ef9ff7 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" default="panda" />
<arg name="load_gripper" default="true" />
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 5819b0635767bdec3d3e6ba7176b5e9d17f7b8f8..8a08ae4f0e198cf871f88aa1157c6f2698f0b250 100644
--- a/franka_control/package.xml
+++ b/franka_control/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_control</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>franka_control provides a hardware node to control a Franka Emika research robot</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_description/package.xml b/franka_description/package.xml
index 95372b6de336d31893bffbfefa62304929609309..a3b09e7c05fac6e47a9b2245e13ac266dadf1a02 100644
--- a/franka_description/package.xml
+++ b/franka_description/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_description</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>franka_description contains URDF files and meshes of Franka Emika robots</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
index a1417a072444683c39a080d544f7d480a0d6c196..d144a7c46a4c56b91181d883c1d62b6468e6b4e2 100644
--- a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index ddc2184e303c2e78c77d9427664fd77471a96c11..d21eefd4e4b417be69a8406d552489029d4e11b9 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index e1df8cda955ea91ac9039aaeaa03be94ba3b5662..baec6d69d6939007525bf53abac120823dc56611 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/force_example_controller.launch b/franka_example_controllers/launch/force_example_controller.launch
index 0187bbda9c8e5f501cab2865a6a4f69a9e73e652..c46ca4e50126280217983815c6e2c383eebf318a 100644
--- a/franka_example_controllers/launch/force_example_controller.launch
+++ b/franka_example_controllers/launch/force_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index 310789644061dd75835a0bb3083f557d6c590d5e..5238e0effbe0d6dfd354e4c74c11856025d41fd2 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index f68b812fd0f15632c725d6966f7eed466f96bc42..3fd04458309f07e93597fc5ca761ac8f2999921f 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index ed8925f19d5cd321226ece8a08261642912aeaed..bbab9a104f60bc34941bc15dabccb3b4cd3f94f7 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index e7475bdc480adac14f423c07015af6eb268dc772..459372655db45567dff4cbd1b99a0c7b66c49ed5 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/move_to_start.launch b/franka_example_controllers/launch/move_to_start.launch
index ed8accb2b7fd8bc9d4e7636b08fc210e5c2f7601..b7032a3f183d287833d5a93eb7b3110412768d37 100644
--- a/franka_example_controllers/launch/move_to_start.launch
+++ b/franka_example_controllers/launch/move_to_start.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" default="panda" />
<arg name="load_gripper" default="true" />
diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml
index ea2fb5a7731f168d6625b6d99e4c1ea0dc3e0f7e..90f43393ff83f2bc94b0577e7c9d2fc1154211d6 100644
--- a/franka_example_controllers/package.xml
+++ b/franka_example_controllers/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_example_controllers</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_gripper/launch/franka_gripper.launch b/franka_gripper/launch/franka_gripper.launch
index d990574d4c8511c770b9612fe60a074a25fbb1ad..cf3c53f0ab37eb9e860c80d1f228bbd6f7905c7f 100644
--- a/franka_gripper/launch/franka_gripper.launch
+++ b/franka_gripper/launch/franka_gripper.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" default="panda" />
<group ns="$(arg arm_id)">
<node name="franka_gripper_node" pkg="franka_gripper" type="franka_gripper_node" output="screen">
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index 158d9fe94f5b4f793853f539a3c0a90b58e1f62e..46934f26ab4710aecacdc2ea89fb81f8979139f6 100644
--- a/franka_gripper/package.xml
+++ b/franka_gripper/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_gripper</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index 2f58970bf8ff1b68165eec0b6aab4cd3df1904a0..2df78856ad630527b1f26d51cfedf231b09416a7 100644
--- a/franka_hw/package.xml
+++ b/franka_hw/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_hw</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index 29780d327636564dc090b1effe38e87b1af4411d..d7717acafc601a25e1844a8fd3917749d1baf74d 100644
--- a/franka_msgs/package.xml
+++ b/franka_msgs/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_msgs</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>franka_msgs provides messages specific to Franka Emika research robots</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_ros/package.xml b/franka_ros/package.xml
index 11f3de10f4739fd5076088f6d37e9d07409ac85b..3948a55a2d61500bbf7cdbbbb14edf0571851ac8 100644
--- a/franka_ros/package.xml
+++ b/franka_ros/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_ros</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>franka_ros is a metapackage for all Franka Emika ROS packages</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/franka_visualization/launch/franka_visualization.launch b/franka_visualization/launch/franka_visualization.launch
index a713f4fd5963bbe88cad4a795130220b08ab10d0..99410e4aee2e86a5b4b6f107739441a6a8b52037 100644
--- a/franka_visualization/launch/franka_visualization.launch
+++ b/franka_visualization/launch/franka_visualization.launch
@@ -2,7 +2,7 @@
<launch>
<arg name="load_gripper" default="true" />
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="publish_rate" default="30" />
<param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm.urdf.xacro" />
diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml
index 331cc1ccf8b32ac5c5905ab101847c136e2dbf88..279ae10e5fe2f2a93a0ac62c28b080f00b828d1e 100644
--- a/franka_visualization/package.xml
+++ b/franka_visualization/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_visualization</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description>This package contains visualization tools for Franka Emika.</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/panda_moveit_config/package.xml b/panda_moveit_config/package.xml
index 790ee374c3f12e84353a8f77556ad167ea56b5be..076bf5e62bdac1182db51437114f28d55c135ad0 100644
--- a/panda_moveit_config/package.xml
+++ b/panda_moveit_config/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>panda_moveit_config</name>
- <version>0.3.0</version>
+ <version>0.4.0</version>
<description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>