launching without a tf prefix is broken

[fmauch]

Affected ROS2 Driver version(s)

rolling master

Used ROS distribution.

Rolling

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

URSim in docker

Robot SW / URSim version(s)

irrelevant

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

Launching without the tf_prefix argument set doesn't work.

Issue details

We removed that in 0e410cb since it is read in the rsp.launch.py file now. However, it is not declared there.

Steps to Reproduce

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101

Expected Behavior

It works

Actual Behavior

[INFO] [launch]: All log files can be found below /home/mauch/.ros/log/2024-06-19-10-23-43-702967-ids-felino-2759927
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): launch configuration 'tf_prefix' does not exist

Workaround Suggestion

• Add the launch argument to the rsp.launch.py file
• Create a test that is launching the driver without setting a tf_prefix

Relevant log output

No response

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