From 4ec09e508b743e31b05d025f85b7c54de0f00353 Mon Sep 17 00:00:00 2001 From: p0rys <54630012+p0rys@users.noreply.github.com> Date: Fri, 23 Sep 2022 09:54:43 +0200 Subject: [PATCH] Move all arguments out of macro file This way it can be included more easily. --- ur_description/urdf/ur.urdf.xacro | 11 ++++++++++- ur_description/urdf/ur_macro.xacro | 23 ++++++++++------------- 2 files changed, 20 insertions(+), 14 deletions(-) diff --git a/ur_description/urdf/ur.urdf.xacro b/ur_description/urdf/ur.urdf.xacro index 18868e77c..194d9a5cf 100644 --- a/ur_description/urdf/ur.urdf.xacro +++ b/ur_description/urdf/ur.urdf.xacro @@ -23,6 +23,11 @@ + + + + + + initial_positions="${load_yaml(initial_positions_file)}" + robot_ip="$(arg robot_ip)" + script_filename="$(arg script_filename)" + output_recipe_filename="$(arg output_recipe_filename)" + input_recipe_filename="$(arg input_recipe_filename)" /> diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index dff4cd5b8..6b94f4e46 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -65,6 +65,10 @@ safety_k_position:=20 use_fake_hardware:=false fake_sensor_commands:=false + robot_ip:=0.0.0.0 + script_filename:=to_be_filled_by_ur_robot_driver + output_recipe_filename:=to_be_filled_by_ur_robot_driver + input_recipe_filename:=to_be_filled_by_ur_robot_driver initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}"> - - - - - - - + robot_ip="${robot_ip}" />