rws_state_publisher.launch

<?xml version="1.0"?>
<launch>
  <arg name="robot_ip"                              doc="IP address to the robot controller's RWS server"/>
  <arg name="robot_port"            default="80"    doc="Port number of the robot controller's RWS server"/>
  <arg name="robot_nickname"        default=""      doc="Arbitrary user nickname/identifier for the robot controller"/>
  <arg name="no_connection_timeout" default="false" doc="Specifies whether the node is allowed to wait indefinitely for the robot controller during initialization"/>
  <arg name="polling_rate"          default="5"     doc="The frequency [Hz] at which the controller state is collected"/>
  <arg name="output"                default="log"   doc="Specifies where the stdout/stderr streams are directed (i.e. 'log' or 'screen')"/>

  <node pkg="abb_rws_state_publisher" type="rws_state_publisher" name="rws_state_publisher" output="$(arg output)">
    <param name="robot_ip" value="$(arg robot_ip)"/>
    <param name="robot_port" value="$(arg robot_port)"/>
    <param name="robot_nickname" value="$(arg robot_nickname)"/>
    <param name="no_connection_timeout" value="$(arg no_connection_timeout)"/>
    <param name="polling_rate" value="$(arg polling_rate)"/>
  </node>
</launch>