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Move all arguments out of macro file #495

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Move all arguments out of macro file #495

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11 changes: 10 additions & 1 deletion ur_description/urdf/ur.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,11 @@
<xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<xacro:arg name="robot_ip" default="0.0.0.0" />
<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_input_recipe.txt"/>
<xacro:arg name="input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>

<!-- arm -->
<xacro:ur_robot
prefix="$(arg prefix)"
Expand All @@ -36,5 +41,9 @@
safety_k_position="$(arg safety_k_position)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
initial_positions="${load_yaml(initial_positions_file)}" />
initial_positions="${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)" />
</robot>
23 changes: 10 additions & 13 deletions ur_description/urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}">
<!-- Load configuration data from the provided .yaml files -->
<xacro:read_model_data
Expand All @@ -73,27 +77,20 @@
physical_parameters_file="${physical_parameters_file}"
visual_parameters_file="${visual_parameters_file}"/>

<!-- 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="$(find ur_description)/urdf/ur.ros2_control.xacro" />
<!-- ros2 control instance -->
<xacro:ur_ros2_control
name="URPositionHardwareInterface" prefix="${prefix}"
use_fake_hardware="$(arg use_fake_hardware)"
use_fake_hardware="${use_fake_hardware}"
initial_positions="${initial_positions}"
fake_sensor_commands="$(arg fake_sensor_commands)"
script_filename="$(arg script_filename)"
output_recipe_filename="$(arg output_recipe_filename)"
input_recipe_filename="$(arg input_recipe_filename)"
fake_sensor_commands="${fake_sensor_commands}"
script_filename="${script_filename}"
output_recipe_filename="${output_recipe_filename}"
input_recipe_filename="${input_recipe_filename}"
tf_prefix=""
hash_kinematics="${kinematics_hash}"
robot_ip="$(arg robot_ip)" />
robot_ip="${robot_ip}" />

<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
Expand Down