Rename ros2_control file for hw loading.

Author: livanov93

ur_description/urdf/ur.xacro

@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur">
-
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+   <!-- robot name parameter -->
+   <xacro:arg name="name" default=""/>
    <!-- import main macro -->
    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
@@ -9,12 +10,7 @@
    <xacro:arg name="kinematics_params" default=""/>
    <xacro:arg name="physical_params" default=""/>
    <xacro:arg name="visual_params" default=""/>
-   <!-- legal values:
-         - hardware_interface/PositionJointInterface
-         - hardware_interface/VelocityJointInterface
-         - hardware_interface/EffortJointInterface
-   -->
-   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+   <xacro:arg name="transmission_hw_interface" default=""/>
    <xacro:arg name="safety_limits" default="false"/>
    <xacro:arg name="safety_pos_margin" default="0.15"/>
    <xacro:arg name="safety_k_position" default="20"/>

ur_description/urdf/ur_macro.xacro

@@ -82,7 +82,7 @@
       <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" />
+      <xacro:include filename="$(find ur_ros2_control_demos)/urdf/ur.ros2_control.xacro" />
       <!-- ros2 control instance -->
       <xacro:ur5_system_position_only
               name="URPositionHardwareInterface" prefix=""