Fix ros2 control xacro (#213)

* [ur_controllers] Add exec_depend to joint_state_broadcaster

Signed-off-by: Gaël Écorchard <[email protected]>

* [ur_bringup, ur_controllers] Fix previous commit

The dependency to `joint_state_broadcaster` should be in `ur_bringup`
not `ur_controllers` as was done in previous commit.

Signed-off-by: Gaël Écorchard <[email protected]>

* [ur_description] Fix xacro syntax

Signed-off-by: Gaël Écorchard <[email protected]>

* [ur_bringup] Remove unused joint_state_publisher

Remove unused dependency to `joint_state_publisher` in `package.xml`.

Signed-off-by: Gaël Écorchard <[email protected]>

Author: galou

ur_bringup/package.xml

@@ -21,7 +21,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>controller_manager</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rviz2</exec_depend>

ur_description/urdf/ur.ros2_control.xacro

@@ -42,8 +42,8 @@
       </hardware>
       <joint name="${prefix}shoulder_pan_joint">
         <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
+          <param name="min">${-2*pi}</param>
+          <param name="max">${2*pi}</param>
         </command_interface>
         <command_interface name="velocity">
           <param name="min">-3.15</param>
@@ -56,8 +56,8 @@
       </joint>
       <joint name="${prefix}shoulder_lift_joint">
         <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
+          <param name="min">${-2*pi}</param>
+          <param name="max">${2*pi}</param>
         </command_interface>
         <command_interface name="velocity">
           <param name="min">-3.15</param>
@@ -70,8 +70,8 @@
       </joint>
       <joint name="${prefix}elbow_joint">
         <command_interface name="position">
-          <param name="min">{-pi}</param>
-          <param name="max">{pi}</param>
+          <param name="min">${-pi}</param>
+          <param name="max">${pi}</param>
         </command_interface>
         <command_interface name="velocity">
           <param name="min">-3.15</param>
@@ -84,8 +84,8 @@
       </joint>
       <joint name="${prefix}wrist_1_joint">
         <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
+          <param name="min">${-2*pi}</param>
+          <param name="max">${2*pi}</param>
         </command_interface>
         <command_interface name="velocity">
           <param name="min">-3.2</param>
@@ -98,8 +98,8 @@
       </joint>
       <joint name="${prefix}wrist_2_joint">
         <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
+          <param name="min">${-2*pi}</param>
+          <param name="max">${2*pi}</param>
         </command_interface>
         <command_interface name="velocity">
           <param name="min">-3.2</param>
@@ -112,8 +112,8 @@
       </joint>
       <joint name="${prefix}wrist_3_joint">
         <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
+          <param name="min">${-2*pi}</param>
+          <param name="max">${2*pi}</param>
         </command_interface>
         <command_interface name="velocity">
           <param name="min">-3.2</param>