From 6e71b56aa2285570292e7209513955a4b6cdb18e Mon Sep 17 00:00:00 2001
From: JafarAbdi <jafar.uruc@gmail.com>
Date: Sat, 19 Oct 2024 17:53:03 +0100
Subject: [PATCH 1/2] Add a flag to include ros2_control tag

---
 .../arms/gen3/6dof/urdf/gen3_macro.xacro      | 51 +++++++-------
 .../arms/gen3/7dof/urdf/gen3_macro.xacro      | 51 +++++++-------
 .../gen3_lite/6dof/urdf/gen3_lite_macro.xacro | 67 ++++++++++---------
 .../urdf/robotiq_2f_140_macro.xacro           |  7 +-
 .../urdf/robotiq_2f_85_macro.xacro            |  7 +-
 kortex_description/robots/kortex_robot.xacro  |  3 +
 6 files changed, 94 insertions(+), 92 deletions(-)

diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
index 52f00efca..56240e2e1 100644
--- a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
+++ b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -31,32 +31,35 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}" >
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
-    <xacro:kortex_ros2_control
-      name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      isaac_joint_commands="${isaac_joint_commands}"
-      isaac_joint_states="${isaac_joint_states}"
-      tf_prefix=""
-      initial_positions="${initial_positions}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      gripper_joint_name="${gripper_joint_name}"/>
+    <xacro:if value="${include_ros2_control}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
+      <xacro:kortex_ros2_control
+        name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        tf_prefix=""
+        initial_positions="${initial_positions}"
+        robot_ip="${robot_ip}"
+        username="${username}"
+        password="${password}"
+        port="${port}"
+        port_realtime="${port_realtime}"
+        session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+        connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        gripper_max_velocity="${gripper_max_velocity}"
+        gripper_max_force="${gripper_max_force}"
+        gripper_joint_name="${gripper_joint_name}"/>
+    </xacro:if>
 
     <joint name="${prefix}base_joint" type="fixed">
       <xacro:insert_block name="origin" />
diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
index 602051967..3f45d5e9f 100644
--- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
+++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -31,32 +31,35 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}" >
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
-    <xacro:kortex_ros2_control
-      name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      isaac_joint_commands="${isaac_joint_commands}"
-      isaac_joint_states="${isaac_joint_states}"
-      tf_prefix=""
-      initial_positions="${initial_positions}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      gripper_joint_name="${gripper_joint_name}"/>
+    <xacro:if value="${include_ros2_control}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
+      <xacro:kortex_ros2_control
+        name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        tf_prefix=""
+        initial_positions="${initial_positions}"
+        robot_ip="${robot_ip}"
+        username="${username}"
+        password="${password}"
+        port="${port}"
+        port_realtime="${port_realtime}"
+        session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+        connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        gripper_max_velocity="${gripper_max_velocity}"
+        gripper_max_force="${gripper_max_force}"
+        gripper_joint_name="${gripper_joint_name}"/>
+    </xacro:if>
 
     <joint name="${prefix}base_joint" type="fixed">
       <xacro:insert_block name="origin" />
diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
index fb24da582..a4c0d36ac 100644
--- a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
@@ -30,41 +30,44 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}" >
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />
-    <xacro:if value="${sim_ignition or sim_gazebo}">
-      <xacro:property name="ros2_control_name" value="IgnitionSystem"/>
+    <xacro:if value="${include_ros2_control}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />
+      <xacro:if value="${sim_ignition or sim_gazebo}">
+        <xacro:property name="ros2_control_name" value="IgnitionSystem"/>
+      </xacro:if>
+       <xacro:if value="${use_fake_hardware}">
+        <xacro:property name="ros2_control_name" value="GenericSystem"/>
+      </xacro:if>
+      <xacro:unless value="${use_fake_hardware or sim_ignition or sim_gazebo}">
+        <xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
+      </xacro:unless>
+      <xacro:kortex_ros2_control
+        name="${ros2_control_name}" prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        tf_prefix=""
+        initial_positions="${initial_positions}"
+        robot_ip="${robot_ip}"
+        username="${username}"
+        password="${password}"
+        port="${port}"
+        port_realtime="${port_realtime}"
+        session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+        connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        gripper_max_velocity="${gripper_max_velocity}"
+        gripper_max_force="${gripper_max_force}"
+        gripper_joint_name="${gripper_joint_name}"/>
     </xacro:if>
-     <xacro:if value="${use_fake_hardware}">
-      <xacro:property name="ros2_control_name" value="GenericSystem"/>
-    </xacro:if>
-    <xacro:unless value="${use_fake_hardware or sim_ignition or sim_gazebo}">
-      <xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
-    </xacro:unless>
-    <xacro:kortex_ros2_control
-      name="${ros2_control_name}" prefix="${prefix}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      isaac_joint_commands="${isaac_joint_commands}"
-      isaac_joint_states="${isaac_joint_states}"
-      tf_prefix=""
-      initial_positions="${initial_positions}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      gripper_joint_name="${gripper_joint_name}"/>
 
     <joint name="${prefix}base_joint" type="fixed">
       <xacro:insert_block name="origin" />
diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
index 4f94c1427..424f6c399 100644
--- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
@@ -10,15 +10,10 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
+    include_ros2_control:=true
     com_port:=/dev/ttyUSB0">
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
 
-    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
-    <xacro:property name="include_ros2_control" value="false"/>
-    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
-      <xacro:property name="include_ros2_control" value="true"/>
-    </xacro:if>
-
     <xacro:robotiq_gripper
         name="RobotiqGripperHardwareInterface"
         prefix="${prefix}"
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
index 49551dd1f..14f9c455f 100644
--- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -10,15 +10,10 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
+    include_ros2_control:=true
     com_port:=/dev/ttyUSB0">
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
 
-    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
-    <xacro:property name="include_ros2_control" value="false"/>
-    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
-      <xacro:property name="include_ros2_control" value="true"/>
-    </xacro:if>
-
     <xacro:robotiq_gripper
         name="RobotiqGripperHardwareInterface"
         prefix="${prefix}"
diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro
index 2abd6675c..75e772b1e 100644
--- a/kortex_description/robots/kortex_robot.xacro
+++ b/kortex_description/robots/kortex_robot.xacro
@@ -27,6 +27,7 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
     gripper_max_velocity:=100.0
     gripper_max_force:=100.0
@@ -60,6 +61,7 @@
       gripper_max_velocity="${gripper_max_velocity}"
       gripper_max_force="${gripper_max_force}"
       use_external_cable="${use_external_cable}"
+      include_ros2_control="${include_ros2_control}"
       initial_positions="${initial_positions}">
       <xacro:insert_block name="origin" />
     </xacro:load_arm>
@@ -88,6 +90,7 @@
         sim_isaac="${sim_isaac}"
         isaac_joint_commands="${isaac_joint_commands}"
         isaac_joint_states="${isaac_joint_states}"
+        include_ros2_control="${include_ros2_control}"
         com_port="${gripper_com_port}"
         use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"/>
     </xacro:unless>

From e20df4b7bf1910329aec03b6fd6fb5b99fcc179d Mon Sep 17 00:00:00 2001
From: JafarAbdi <jafar.uruc@gmail.com>
Date: Sat, 19 Oct 2024 17:53:03 +0100
Subject: [PATCH 2/2] Add a flag to include ros2_control tag

---
 .../arms/gen3/6dof/urdf/gen3_macro.xacro      | 51 ++++++------
 .../arms/gen3/7dof/urdf/gen3_macro.xacro      | 51 ++++++------
 .../gen3_lite/6dof/urdf/gen3_lite_macro.xacro | 83 ++++++++++---------
 .../urdf/robotiq_2f_140_macro.xacro           |  7 +-
 .../urdf/robotiq_2f_85_macro.xacro            |  7 +-
 kortex_description/robots/kortex_robot.xacro  |  3 +
 6 files changed, 102 insertions(+), 100 deletions(-)

diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
index d3387924a..9a51d859c 100644
--- a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
+++ b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -31,33 +31,36 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}
     moveit_active:=false">
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
-    <xacro:kortex_ros2_control
-      name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      isaac_joint_commands="${isaac_joint_commands}"
-      isaac_joint_states="${isaac_joint_states}"
-      tf_prefix=""
-      initial_positions="${initial_positions}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      gripper_joint_name="${gripper_joint_name}"/>
+    <xacro:if value="${include_ros2_control}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
+      <xacro:kortex_ros2_control
+        name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        tf_prefix=""
+        initial_positions="${initial_positions}"
+        robot_ip="${robot_ip}"
+        username="${username}"
+        password="${password}"
+        port="${port}"
+        port_realtime="${port_realtime}"
+        session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+        connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        gripper_max_velocity="${gripper_max_velocity}"
+        gripper_max_force="${gripper_max_force}"
+        gripper_joint_name="${gripper_joint_name}"/>
+    </xacro:if>
 
     <joint name="${prefix}base_joint" type="fixed">
       <xacro:insert_block name="origin" />
diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
index 90a05f389..3401906c6 100644
--- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
+++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -31,33 +31,36 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
     moveit_active:=false">
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
-    <xacro:kortex_ros2_control
-      name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      isaac_joint_commands="${isaac_joint_commands}"
-      isaac_joint_states="${isaac_joint_states}"
-      tf_prefix=""
-      initial_positions="${initial_positions}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      gripper_joint_name="${gripper_joint_name}"/>
+    <xacro:if value="${include_ros2_control}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
+      <xacro:kortex_ros2_control
+        name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        tf_prefix=""
+        initial_positions="${initial_positions}"
+        robot_ip="${robot_ip}"
+        username="${username}"
+        password="${password}"
+        port="${port}"
+        port_realtime="${port_realtime}"
+        session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+        connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        gripper_max_velocity="${gripper_max_velocity}"
+        gripper_max_force="${gripper_max_force}"
+        gripper_joint_name="${gripper_joint_name}"/>
+    </xacro:if>
 
     <joint name="${prefix}base_joint" type="fixed">
       <xacro:insert_block name="origin" />
diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
index 998e1bce0..0af1deb3c 100644
--- a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
@@ -30,52 +30,55 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}
     moveit_active:=false" >
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />
-    <xacro:if value="${sim_ignition or sim_gazebo}">
-      <xacro:unless value="${moveit_active}">
-        <xacro:property name="ros2_control_name" value="IgnitionSystem"/>
+    <xacro:if value="${include_ros2_control}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />
+      <xacro:if value="${sim_ignition or sim_gazebo}">
+        <xacro:unless value="${moveit_active}">
+          <xacro:property name="ros2_control_name" value="IgnitionSystem"/>
+        </xacro:unless>
+      </xacro:if>
+      <xacro:if value="${use_fake_hardware}">
+        <xacro:unless value="${moveit_active}">
+          <xacro:property name="ros2_control_name" value="GenericSystem"/>
+        </xacro:unless>
+      </xacro:if>
+      <xacro:unless value="${use_fake_hardware or sim_ignition or sim_gazebo}">
+        <xacro:unless value="${moveit_active}">
+          <xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
+        </xacro:unless>
       </xacro:unless>
-    </xacro:if>
-     <xacro:if value="${use_fake_hardware}">
-      <xacro:unless value="${moveit_active}">
-        <xacro:property name="ros2_control_name" value="GenericSystem"/>
-      </xacro:unless>
-    </xacro:if>
-    <xacro:unless value="${use_fake_hardware or sim_ignition or sim_gazebo}">
-      <xacro:unless value="${moveit_active}">
+      <xacro:if value="${moveit_active}">
         <xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
-      </xacro:unless>
-    </xacro:unless>
-    <xacro:if value="${moveit_active}">
-      <xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
+      </xacro:if>
+      <xacro:kortex_ros2_control
+        name="${ros2_control_name}" prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        tf_prefix=""
+        initial_positions="${initial_positions}"
+        robot_ip="${robot_ip}"
+        username="${username}"
+        password="${password}"
+        port="${port}"
+        port_realtime="${port_realtime}"
+        session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+        connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        gripper_max_velocity="${gripper_max_velocity}"
+        gripper_max_force="${gripper_max_force}"
+        gripper_joint_name="${gripper_joint_name}"
+        moveit_active="${moveit_active}"/>
     </xacro:if>
-    <xacro:kortex_ros2_control
-      name="${ros2_control_name}" prefix="${prefix}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      isaac_joint_commands="${isaac_joint_commands}"
-      isaac_joint_states="${isaac_joint_states}"
-      tf_prefix=""
-      initial_positions="${initial_positions}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      gripper_joint_name="${gripper_joint_name}"
-      moveit_active="${moveit_active}"/>
 
     <joint name="${prefix}base_joint" type="fixed">
       <xacro:insert_block name="origin" />
diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
index bb54731b5..72c70a825 100644
--- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
@@ -10,16 +10,11 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
+    include_ros2_control:=true
     com_port:=/dev/ttyUSB0
     moveit_active:=false">
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
 
-    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
-    <xacro:property name="include_ros2_control" value="false"/>
-    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
-      <xacro:property name="include_ros2_control" value="true"/>
-    </xacro:if>
-
     <xacro:robotiq_gripper
         name="RobotiqGripperHardwareInterface"
         prefix="${prefix}"
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
index cbf7f42f2..c19650c71 100644
--- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -10,16 +10,11 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
+    include_ros2_control:=true
     com_port:=/dev/ttyUSB0
     moveit_active:=false">
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
 
-    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
-    <xacro:property name="include_ros2_control" value="false"/>
-    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
-      <xacro:property name="include_ros2_control" value="true"/>
-    </xacro:if>
-
     <xacro:robotiq_gripper
         name="RobotiqGripperHardwareInterface"
         prefix="${prefix}"
diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro
index f89c6f571..cd678f740 100644
--- a/kortex_description/robots/kortex_robot.xacro
+++ b/kortex_description/robots/kortex_robot.xacro
@@ -27,6 +27,7 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
+    include_ros2_control:=true
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
     gripper_max_velocity:=100.0
     gripper_max_force:=100.0
@@ -61,6 +62,7 @@
       gripper_max_velocity="${gripper_max_velocity}"
       gripper_max_force="${gripper_max_force}"
       use_external_cable="${use_external_cable}"
+      include_ros2_control="${include_ros2_control}"
       initial_positions="${initial_positions}"
       moveit_active="${moveit_active}">
       <xacro:insert_block name="origin" />
@@ -90,6 +92,7 @@
         sim_isaac="${sim_isaac}"
         isaac_joint_commands="${isaac_joint_commands}"
         isaac_joint_states="${isaac_joint_states}"
+        include_ros2_control="${include_ros2_control}"
         com_port="${gripper_com_port}"
         use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
         moveit_active="${moveit_active}"/>