Launch Parameters

This section describes configurable launch parameters used to start the robot system with different modes and options. These parameters can be passed via the command line using ros2 launch or modified within launch files.

Example command:

ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual \
  host:=127.0.0.1 port:=12345 model:=m1013 gui:=true \
  name:=dsr01 color:=white

mode

Defines whether the robot runs in physical or virtual mode.

  • mode:=real Runs a physical robot. (Default IP: 192.168.127.100, Port: 12345)

  • mode:=virtual Runs the robot in virtual (simulated) mode. (Default IP: 127.0.0.1, Port: 12345)

The emulator will start and stop automatically during the launch lifecycle.

For more information about the mode argument, see Operation Modes.

name

Sets the ROS namespace used for the robot.

  • Default: dsr01

host

Sets the IP address of the Doosan Robotics Controller.

  • Default: 192.168.137.100

  • For virtual mode: 127.0.0.1

port

Specifies the TCP port used to connect to the robot controller.

  • Default: 12345

model

Defines the robot model name.

  • Example: m1013, a0509

Note

Ensure it matches your actual robot hardware or simulation target.

color

Sets the color of the robot arm (affects visualization).

  • Options: white or blue

Note

Only white is supported for model E0609.

gui

Enable or disable the GUI (e.g., RViz2) during launch.

  • Options: true / false

gz

Enable or disable the Gazebo Simulation environment.

  • Options: true / false

rt_host

Specifies the IP address used for the real-time robot controller connection.

  • Default: 192.168.137.50

  • Used primarily for motion stream interfaces or internal sync mechanisms.