ur5_kinect_calibration.launch

<launch>
    <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />

    <arg name="robot_ip" doc="The IP address of the UR5 robot" />

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" />

    <!-- start the Kinect -->
    <include file="$(find freenect_launch)/launch/freenect.launch" >
        <arg name="depth_registration" value="true" />
    </include>

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/rgb" />
        <remap from="/image" to="/camera/rgb/image_rect_color" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <param name="reference_frame"    value="camera_link"/>
        <param name="camera_frame"       value="camera_rgb_optical_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- start the robot -->
    <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
        <arg name="limited" value="true" />
        <arg name="robot_ip" value="192.168.0.21" />
    </include>
    <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
        <arg name="limited" value="true" />
    </include>

    <!-- start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="false" />

        <arg name="tracking_base_frame" value="camera_link" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="wrist_3_link" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
    </include>

</launch>