Make ros2_control tag generation optional in macro (#121)

Since the macro should be usuable in situations where no ros2_control tag
shall be instanciated, we make this optional. This way it will not break
existing setups but will allow re-using the macro when one doesn't want the
default tag being generated.

Co-authored-by: Bence Magyar <[email protected]>

Author: Felix Exner (fexner)

urdf/ur_macro.xacro

@@ -62,6 +62,7 @@
     kinematics_parameters_file
     physical_parameters_file
     visual_parameters_file
+    generate_ros2_control_tag:=true
     transmission_hw_interface:=hardware_interface/PositionJointInterface
     safety_limits:=false
     safety_pos_margin:=0.15
@@ -104,40 +105,42 @@
       force_abs_paths="${sim_gazebo or sim_ignition}"/>
 
 
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
-    <!-- ros2 control instance -->
-    <xacro:ur_ros2_control
-      name="${name}"
-      use_fake_hardware="${use_fake_hardware}"
-      initial_positions="${initial_positions}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      headless_mode="${headless_mode}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      script_filename="${script_filename}"
-      output_recipe_filename="${output_recipe_filename}"
-      input_recipe_filename="${input_recipe_filename}"
-      tf_prefix="${tf_prefix}"
-      hash_kinematics="${kinematics_hash}"
-      robot_ip="${robot_ip}"
-      use_tool_communication="${use_tool_communication}"
-      tool_voltage="${tool_voltage}"
-      tool_parity="${tool_parity}"
-      tool_baud_rate="${tool_baud_rate}"
-      tool_stop_bits="${tool_stop_bits}"
-      tool_rx_idle_chars="${tool_rx_idle_chars}"
-      tool_tx_idle_chars="${tool_tx_idle_chars}"
-      tool_device_name="${tool_device_name}"
-      tool_tcp_port="${tool_tcp_port}"
-      reverse_port="${reverse_port}"
-      script_sender_port="${script_sender_port}"
-      reverse_ip="${reverse_ip}"
-      script_command_port="${script_command_port}"
-      trajectory_port="${trajectory_port}"
-      non_blocking_read="${non_blocking_read}"
-      keep_alive_count="${keep_alive_count}"
-      />
+    <xacro:if value="${generate_ros2_control_tag}">
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
+      <!-- ros2 control instance -->
+      <xacro:ur_ros2_control
+        name="${name}"
+        use_fake_hardware="${use_fake_hardware}"
+        initial_positions="${initial_positions}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        headless_mode="${headless_mode}"
+        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_ignition}"
+        script_filename="${script_filename}"
+        output_recipe_filename="${output_recipe_filename}"
+        input_recipe_filename="${input_recipe_filename}"
+        tf_prefix="${tf_prefix}"
+        hash_kinematics="${kinematics_hash}"
+        robot_ip="${robot_ip}"
+        use_tool_communication="${use_tool_communication}"
+        tool_voltage="${tool_voltage}"
+        tool_parity="${tool_parity}"
+        tool_baud_rate="${tool_baud_rate}"
+        tool_stop_bits="${tool_stop_bits}"
+        tool_rx_idle_chars="${tool_rx_idle_chars}"
+        tool_tx_idle_chars="${tool_tx_idle_chars}"
+        tool_device_name="${tool_device_name}"
+        tool_tcp_port="${tool_tcp_port}"
+        reverse_port="${reverse_port}"
+        script_sender_port="${script_sender_port}"
+        reverse_ip="${reverse_ip}"
+        script_command_port="${script_command_port}"
+        trajectory_port="${trajectory_port}"
+        non_blocking_read="${non_blocking_read}"
+        keep_alive_count="${keep_alive_count}"
+        />
+    </xacro:if>
 
     <!-- Add URDF transmission elements (for ros_control) -->
     <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->