ex1_rws_only.launch

<?xml version="1.0"?>
<launch>
  <arg name="robot_ip" doc="The robot controller's IP address"/>

  <!-- Enable DEBUG output for all ABB nodes -->
  <arg name="debug" default="false"/>
  <env if="$(arg debug)" name="ROSCONSOLE_CONFIG_FILE" value="$(find abb_robot_bringup_examples)/config/rosconsole.conf"/>

  <!-- ============================================================================================================= -->
  <!-- Robot Web Services (RWS) related components.                                                                  -->
  <!-- ============================================================================================================= -->

  <!-- RWS state publisher (i.e. general states about the robot controller) -->
  <include file="$(find abb_rws_state_publisher)/launch/rws_state_publisher.launch">
    <arg name="robot_ip" value="$(arg robot_ip)"/>
  </include>

  <!-- RWS service provider (i.a. starting/stopping the robot controller's RAPID execution) -->
  <include file="$(find abb_rws_service_provider)/launch/rws_service_provider.launch">
    <arg name="robot_ip" value="$(arg robot_ip)"/>
  </include>
</launch>