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}" />