Fix tool voltage setup (UniversalRobots#526)

* Move BEGIN_REPLACE inside of header * Change default value of tool_voltage Keeping this at 0 requires users to explicitly set it to non-zero. This way we won't accitentally destroy hardware that cannot handle 24V.
RoboticManipulation · Nov 2, 2022 · ebb9e57 · ebb9e57
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commit ebb9e57
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diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
@@ -530,7 +530,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_voltage",
-            default_value="24",
+            default_value="0",  # 0 being a conservative value that won't destroy anything
             description="Tool voltage that will be setup.",
         )
     )

diff --git a/ur_robot_driver/resources/ros_control.urscript b/ur_robot_driver/resources/ros_control.urscript
@@ -1,7 +1,7 @@
-{{BEGIN_REPLACE}}
-
 # HEADER_BEGIN
 
+{{BEGIN_REPLACE}}
+
 steptime = get_steptime()
 
 textmsg("ExternalControl: steptime=", steptime)