Reorganize configuration and urdf folders.

Author: livanov93

ur_description/cfg/view_robot.rviz

@@ -4,10 +4,9 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
+        - /RobotModel1/Description Topic1
       Splitter Ratio: 0.5
-    Tree Height: 787
+    Tree Height: 623
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -42,9 +41,17 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Attached Body Color: 150; 50; 150
-      Class: moveit_rviz_plugin/RobotState
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
       Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
       Enabled: true
       Links:
         All Links Enabled: true
@@ -85,6 +92,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         wrist_1_link:
           Alpha: 1
           Show Axes: false
@@ -100,12 +111,9 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-      Name: RobotState
-      Robot Alpha: 1
-      Robot Description: robot_description
-      Robot State Topic: display_robot_state
-      Show All Links: true
-      Show Highlights: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
       Value: true
       Visual Enabled: true
   Enabled: true
@@ -151,7 +159,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 10
+      Distance: 2.8069188594818115
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -166,24 +174,24 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
+      Pitch: 0.15039828419685364
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398006439209
+      Yaw: 0.5353983640670776
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005dc0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
-  X: 72
-  Y: 27
+  Width: 1200
+  X: 446
+  Y: 473

ur_description/urdf/inc/ur_common.xacro

@@ -215,5 +215,8 @@
     <xacro:property name="wrist_3_visual_material_color" value="${__wrist_3_mesh['visual']['material']['color']}" scope="parent"/>
     <xacro:property name="wrist_3_collision_mesh" value="${__wrist_3_mesh['collision']['mesh']}" scope="parent"/>
     <xacro:property name="wrist_3_visual_offset" value="${__wrist_3_mesh['visual_offset']}" scope="parent"/>
+
+    <!--KINEMATICS HASH-->
+    <xacro:property name="kinematics_hash" value="${__kinematics['hash']}" scope="parent"/>
   </xacro:macro>
 </robot>

ur_description/urdf/ur_macro.xacro

@@ -72,8 +72,31 @@
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"/>
 
+    <!-- ros2 control argument-->
+    <xacro:arg name="use_ros2_control" default="true"/>
+
+    <xacro:if value="$(arg use_ros2_control)" >
+      <!-- Data files required by the UR driver -->
+      <xacro:arg name="script_filename" default="$(find ur_robot_driver)/resources/ros_control.urscript"/>
+      <xacro:arg name="output_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"/>
+      <xacro:arg name="input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
+      <xacro:arg name="robot_ip" default="10.0.1.186"/>
+      <!-- ros2 control include -->
+      <xacro:include filename="$(find ur_ros2_control_demos)/urdf/ur5_system_position_only.ros2_control.xacro" />
+      <!-- ros2 control instance -->
+      <xacro:ur5_system_position_only
+              name="URPositionHardwareInterface" prefix=""
+              script_filename="$(arg script_filename)"
+              output_recipe_filename="$(arg output_recipe_filename)"
+              input_recipe_filename="$(arg input_recipe_filename)"
+              tf_prefix=""
+              hash_kinematics="${kinematics_hash}"
+              robot_ip="$(arg robot_ip)" />
+    </xacro:if>
+
     <!-- Add URDF transmission elements (for ros_control) -->
-    <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
+    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+    <!-- Placeholder for ros2_control transmission which don't yet exist -->
 
     <!-- links: main serial chain -->
     <link name="${prefix}base_link"/>