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I'm using a Staubli TX2-60L

Instead of what I wrote in my comment, do the following:

• git clone https://github.com/ros-industrial/staubli_experimental.git into your workspace
• go to staubli_experimental/staubli_tx2_60_support/launch
• create a robot_interface_streaming_tx2_60l.launch file

• add the following content to that file:

  <?xml version="1.0"?>
  <launch>
    <arg name="robot_ip" doc="IP of controller" />
  
    <rosparam command="load" file="$(find staubli_tx2_60_support)/config/joint_names_tx2_60l.yaml" />
  
    <include file="$(find staulbi_val3_driver)/launch/robot_interface_streaming.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </launch>
  

• save it

then run it with:

roslaunch staubli_tx2_60_support robot_interface_streaming_tx2_60l.launch robot_ip:=<Controller IP address>

You may also want to read up on how robot support packages and drivers are structured and used: Working with ROS-Industrial Robot Support Packages.

I'm using a Staubli TX2-60L

Instead of what I wrote in my comment, do the following:

• git clone https://github.com/ros-industrial/staubli_experimental.git into your workspace
• go to staubli_experimental/staubli_tx2_60_support/launch
• create a robot_interface_streaming_tx2_60l.launch file

• add the following content to that file:

  <?xml version="1.0"?>
  <launch>
    <arg name="robot_ip" doc="IP of controller" />
  
    <rosparam command="load" file="$(find staubli_tx2_60_support)/config/joint_names_tx2_60l.yaml" />
  
    <include file="$(find staulbi_val3_driver)/launch/robot_interface_streaming.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </launch>
  

• save it

then run it with:

roslaunch \
  staubli_tx2_60_support \
  robot_interface_streaming_tx2_60l.launch \
  robot_ip:=<Controller IP address>

You may also want to read up on how robot support packages and drivers are structured and used: Working with ROS-Industrial Robot Support Packages.