ur5.launch

<launch>
  <node name="detect_grasps" pkg="gpd_ros" type="detect_grasps" output="screen">

    <!-- If sequential importance sampling is used (default: false) -->
<!--
    <param name="use_importance_sampling" value="false" />
-->

    <!-- What type of point cloud is used and what ROS topic it comes from -->
    <param name="cloud_type" value="2" /> <!-- 0: PointCloud2, 1: CloudIndexed, 2: CloudSamples -->
    <param name="cloud_topic" value="/cloud_stitched" />

    <!-- (optional) The ROS topic that the samples come from (default: an empty string) -->
    <param name="samples_topic" value="" />

    <!-- Filepath to the configuration file for GPD -->
    <!-- <param name="config_file" value="/home/ur5/projects/gpd/cfg/ros_eigen_params.cfg" /> -->
    <param name="config_file" value="/home/ur5/projects/gpd/cfg/ros_vino_params.cfg" />

    <param name="rviz_topic" value="plot_grasps" />

  </node>

</launch>