From faad7d12d3684e499d1deb3322431d664dbf2313 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Wed, 7 Mar 2018 14:41:52 +0100
Subject: [PATCH] Remove default robot_ip from launchfiles
---
CHANGELOG.md | 4 ++++
franka_control/config/franka_control.yaml | 2 --
franka_control/launch/franka_control.launch | 2 +-
.../launch/cartesian_impedance_example_controller.launch | 2 +-
.../launch/cartesian_pose_example_controller.launch | 2 +-
.../launch/cartesian_velocity_example_controller.launch | 2 +-
.../launch/force_example_controller.launch | 2 +-
.../launch/joint_impedance_example_controller.launch | 2 +-
.../launch/joint_position_example_controller.launch | 2 +-
.../launch/joint_velocity_example_controller.launch | 2 +-
.../launch/model_example_controller.launch | 2 +-
franka_example_controllers/launch/move_to_start.launch | 2 +-
franka_gripper/launch/franka_gripper.launch | 2 +-
franka_visualization/launch/franka_visualization.launch | 2 +-
14 files changed, 16 insertions(+), 14 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index f172315..8b13b4b 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 52e2e28..f61ffb3 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 1b2fe02..536a3db 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_example_controllers/launch/cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
index a1417a0..d144a7c 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="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index ddc2184..d21eefd 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(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 e1df8cd..baec6d6 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="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/force_example_controller.launch b/franka_example_controllers/launch/force_example_controller.launch
index 0187bbd..c46ca4e 100644
--- a/franka_example_controllers/launch/force_example_controller.launch
+++ b/franka_example_controllers/launch/force_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(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 3107896..5238e0e 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="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index f68b812..3fd0445 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(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 ed8925f..bbab9a1 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="$(find franka_control)/launch/franka_control.launch" >
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index e7475bd..4593726 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(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 ed8accb..b7032a3 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_gripper/launch/franka_gripper.launch b/franka_gripper/launch/franka_gripper.launch
index d990574..cf3c53f 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="$(arg arm_id)">
<node name="franka_gripper_node" pkg="franka_gripper" type="franka_gripper_node" output="screen">
diff --git a/franka_visualization/launch/franka_visualization.launch b/franka_visualization/launch/franka_visualization.launch
index a713f4f..99410e4 100644
--- a/franka_visualization/launch/franka_visualization.launch
+++ b/franka_visualization/launch/franka_visualization.launch
@@ -2,7 +2,7 @@
<launch>
<arg name="load_gripper" default="true" />
- <arg name="robot_ip" default="robot.franka.de" />
+ <arg name="robot_ip" />
<arg name="publish_rate" default="30" />
<param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm.urdf.xacro" />
--
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