ur_robot_driver/URPositionHardwareInterface 0.0.0.0 False 50001 50002 0.0.0.0 50004 50003 True 2000 0.03 False calib_16756443741236045476 0 0 115200 1 1.5 3.5 /tmp/ttyUR 54321 2 {-2*pi} {2*pi} -3.15 3.15 0.0 {-2*pi} {2*pi} -3.15 3.15 -1.57 {-pi} {pi} -3.15 3.15 0.0 {-2*pi} {2*pi} -3.2 3.2 -1.57 {-2*pi} {2*pi} -3.2 3.2 0.0 {-2*pi} {2*pi} -3.2 3.2 0.0 1 robotiq_driver/RobotiqGripperHardwareInterface 0.695 /dev/ttyUSB0 1.0 0.5 0.695