From ff5b80ea2819f1c9d1af103537e7fe5f2c7375d0 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Fri, 27 Oct 2023 14:48:08 +0200
Subject: [PATCH] Port configuration  (#835) (#847)

Added possibility to change the reverse_port, script_sender_port and trajectory_port

(cherry picked from commit f16ae2af7eb63f8d1c74c7e873347d4f32cacf4f)

Co-authored-by: Felix Durchdewald <145785497+fdurchdewald@users.noreply.github.com>
---
 ur_robot_driver/launch/ur_control.launch.py | 36 +++++++++++++++++++--
 1 file changed, 34 insertions(+), 2 deletions(-)

diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 6a4a2b604..c7d572f56 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -72,6 +72,9 @@ def launch_setup(context, *args, **kwargs):
     tool_voltage = LaunchConfiguration("tool_voltage")
     reverse_ip = LaunchConfiguration("reverse_ip")
     script_command_port = LaunchConfiguration("script_command_port")
+    reverse_port = LaunchConfiguration("reverse_port")
+    script_sender_port = LaunchConfiguration("script_sender_port")
+    trajectory_port = LaunchConfiguration("trajectory_port")
 
     joint_limit_params = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
@@ -182,6 +185,15 @@ def launch_setup(context, *args, **kwargs):
             "script_command_port:=",
             script_command_port,
             " ",
+            "reverse_port:=",
+            reverse_port,
+            " ",
+            "script_sender_port:=",
+            script_sender_port,
+            " ",
+            "trajectory_port:=",
+            trajectory_port,
+            " ",
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -576,8 +588,28 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "script_command_port",
             default_value="50004",
-            description="Port that will be opened to forward script commands from the driver to the robot",
+            description="Port that will be opened to forward URScript commands to the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "reverse_port",
+            default_value="50001",
+            description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "script_sender_port",
+            default_value="50002",
+            description="The driver will offer an interface to query the external_control URScript on this port.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "trajectory_port",
+            default_value="50003",
+            description="Port that will be opened for trajectory control.",
         )
     )
-
     return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])