Parameters to xacro macro.

Author: livanov93

urdf/ur.urdf.xacro

@@ -17,7 +17,7 @@
    <xacro:arg name="safety_k_position" default="20"/>
    <!-- ros2_control related parameters -->
    <xacro:arg name="headless_mode" default="false" />
-<!--   tool communication related parameters-->
+   <!--   tool communication related parameters-->
    <xacro:arg name="use_tool_communication" default="false" />
    <xacro:arg name="tool_voltage" default="24" />
    <xacro:arg name="tool_parity" default="0" />
@@ -63,7 +63,15 @@
      sim_ignition="$(arg sim_ignition)"
      headless_mode="$(arg headless_mode)"
      initial_positions="${load_yaml(initial_positions_file)}"
-     use_tool_communication="$(arg use_tool_communication)" >
+     use_tool_communication="$(arg use_tool_communication)"
+     tool_voltage="$(arg tool_voltage)"
+     tool_parity="$(arg tool_parity)"
+     tool_baud_rate="$(arg tool_baud_rate)"
+     tool_stop_bits="$(arg tool_stop_bits)"
+     tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
+     tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
+     tool_device_name="$(arg tool_device_name)"
+     tool_tcp_port="$(arg tool_tcp_port)" >
      <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
    </xacro:ur_robot>
 

urdf/ur_macro.xacro

@@ -113,7 +113,15 @@
       tf_prefix=""
       hash_kinematics="${kinematics_hash}"
       robot_ip="$(arg robot_ip)"
-      use_tool_communication="${use_tool_communication}"/>
+      use_tool_communication="${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}"/>
 
     <!-- Add URDF transmission elements (for ros_control) -->
     <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->