ur_robot_driver/URPositionHardwareInterface 172.18.0.2 /opt/ros/humble/share/ur_client_library/resources/external_control.urscript /opt/ros/humble/share/ur_robot_driver/resources/rtde_output_recipe.txt /opt/ros/humble/share/ur_robot_driver/resources/rtde_input_recipe.txt False 50001 50002 0.0.0.0 50004 50003 True 2000 0.03 False calib_5119701370761913513 0 0 115200 1 1.5 3.5 /tmp/ttyUR 54321 2 0.0 -1.57 0.0 -1.57 0.0 0.0 1