From 026a6475b8d88b49a07c290e22a117d77af58a68 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 1/2] Move out ros2_control macro from ur kinematic macro

---
 ur_description/urdf/ur.urdf.xacro  | 37 +++++++++++++++++++------
 ur_description/urdf/ur_macro.xacro | 44 +-----------------------------
 2 files changed, 29 insertions(+), 52 deletions(-)

diff --git a/ur_description/urdf/ur.urdf.xacro b/ur_description/urdf/ur.urdf.xacro
index 18868e77c..e73cf9be6 100644
--- a/ur_description/urdf/ur.urdf.xacro
+++ b/ur_description/urdf/ur.urdf.xacro
@@ -4,6 +4,7 @@
    <xacro:arg name="name" default="ur"/>
    <!-- import main macro -->
    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+   <xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" />
 
    <!-- parameters -->
    <xacro:arg name="prefix" default="" />
@@ -11,7 +12,6 @@
    <xacro:arg name="kinematics_params" default=""/>
    <xacro:arg name="physical_params" default=""/>
    <xacro:arg name="visual_params" default=""/>
-   <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"/>
@@ -23,18 +23,37 @@
    <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)"/>
 
-   <!-- arm -->
-   <xacro:ur_robot
-     prefix="$(arg prefix)"
+   <xacro:arg name="robot_ip" default="0.0.0.0" />
+   <xacro:arg name="script_filename" default="$(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"/>
+
+   <!-- Load configuration data from the provided .yaml files -->
+   <xacro:read_model_data
      joint_limits_parameters_file="$(arg joint_limit_params)"
      kinematics_parameters_file="$(arg kinematics_params)"
      physical_parameters_file="$(arg physical_params)"
-     visual_parameters_file="$(arg visual_params)"
-     transmission_hw_interface="$(arg transmission_hw_interface)"
+     visual_parameters_file="$(arg visual_params)"/>
+
+   <!-- arm -->
+   <xacro:ur_robot
+     prefix="$(arg prefix)"
      safety_limits="$(arg safety_limits)"
      safety_pos_margin="$(arg safety_pos_margin)"
      safety_k_position="$(arg safety_k_position)"
-     use_fake_hardware="$(arg use_fake_hardware)"
-     fake_sensor_commands="$(arg fake_sensor_commands)"
-     initial_positions="${load_yaml(initial_positions_file)}" />
+     />
+  <!-- ros2 control include -->
+  <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
+  <!-- ros2 control instance -->
+  <xacro:ur_ros2_control
+    name="URPositionHardwareInterface" prefix="$(arg prefix)"
+    use_fake_hardware="$(arg use_fake_hardware)"
+    initial_positions="${load_yaml(initial_positions_file)}"
+    fake_sensor_commands="$(arg fake_sensor_commands)"
+    script_filename="$(arg script_filename)"
+    output_recipe_filename="$(arg output_recipe_filename)"
+    input_recipe_filename="$(arg input_recipe_filename)"
+    tf_prefix=""
+    hash_kinematics="${kinematics_hash}"
+    robot_ip="$(arg robot_ip)" />
 </robot>
diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro
index dff4cd5b8..b745fab80 100644
--- a/ur_description/urdf/ur_macro.xacro
+++ b/ur_description/urdf/ur_macro.xacro
@@ -50,54 +50,12 @@
      - Muhammad Asif Rana
   -->
 
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" />
-
   <xacro:macro name="ur_robot" params="
     prefix
-    joint_limits_parameters_file
-    kinematics_parameters_file
-    physical_parameters_file
-    visual_parameters_file
-    transmission_hw_interface:=hardware_interface/PositionJointInterface
     safety_limits:=false
     safety_pos_margin:=0.15
     safety_k_position:=20
-    use_fake_hardware:=false
-    fake_sensor_commands:=false
-    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}">
-    <!-- Load configuration data from the provided .yaml files -->
-    <xacro:read_model_data
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${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="$(arg use_fake_hardware)"
-      initial_positions="${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)"
-      tf_prefix=""
-      hash_kinematics="${kinematics_hash}"
-      robot_ip="$(arg robot_ip)" />
-
-    <!-- Add URDF transmission elements (for ros_control) -->
-    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
-    <!-- Placeholder for ros2_control transmission which don't yet exist -->
+    ">
 
     <!-- links -  main serial chain -->
     <link name="${prefix}base_link"/>

From 4c3eb554b3dc452d143f91c57bb614c8d3e45c7b Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 5 Oct 2022 14:03:07 +0200
Subject: [PATCH 2/2] Added another macro layer for inclusion

This way the kinematic structure will still be standalone while keeping
a single macro to include.
---
 ur_description/urdf/ur.urdf.xacro  |  35 ++-
 ur_description/urdf/ur_macro.xacro | 350 ++++-------------------------
 2 files changed, 56 insertions(+), 329 deletions(-)

diff --git a/ur_description/urdf/ur.urdf.xacro b/ur_description/urdf/ur.urdf.xacro
index e73cf9be6..ed1bed967 100644
--- a/ur_description/urdf/ur.urdf.xacro
+++ b/ur_description/urdf/ur.urdf.xacro
@@ -4,7 +4,6 @@
    <xacro:arg name="name" default="ur"/>
    <!-- import main macro -->
    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
-   <xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" />
 
    <!-- parameters -->
    <xacro:arg name="prefix" default="" />
@@ -12,6 +11,7 @@
    <xacro:arg name="kinematics_params" default=""/>
    <xacro:arg name="physical_params" default=""/>
    <xacro:arg name="visual_params" default=""/>
+   <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"/>
@@ -29,31 +29,22 @@
    <xacro:arg name="input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
 
    <!-- Load configuration data from the provided .yaml files -->
-   <xacro:read_model_data
+   <xacro:ur_robot
+     prefix="$(arg prefix)"
      joint_limits_parameters_file="$(arg joint_limit_params)"
      kinematics_parameters_file="$(arg kinematics_params)"
      physical_parameters_file="$(arg physical_params)"
-     visual_parameters_file="$(arg visual_params)"/>
-
-   <!-- arm -->
-   <xacro:ur_robot
-     prefix="$(arg prefix)"
+     visual_parameters_file="$(arg visual_params)"
+     transmission_hw_interface="$(arg transmission_hw_interface)"
      safety_limits="$(arg safety_limits)"
      safety_pos_margin="$(arg safety_pos_margin)"
      safety_k_position="$(arg safety_k_position)"
-     />
-  <!-- ros2 control include -->
-  <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
-  <!-- ros2 control instance -->
-  <xacro:ur_ros2_control
-    name="URPositionHardwareInterface" prefix="$(arg prefix)"
-    use_fake_hardware="$(arg use_fake_hardware)"
-    initial_positions="${load_yaml(initial_positions_file)}"
-    fake_sensor_commands="$(arg fake_sensor_commands)"
-    script_filename="$(arg script_filename)"
-    output_recipe_filename="$(arg output_recipe_filename)"
-    input_recipe_filename="$(arg input_recipe_filename)"
-    tf_prefix=""
-    hash_kinematics="${kinematics_hash}"
-    robot_ip="$(arg robot_ip)" />
+     use_fake_hardware="$(arg use_fake_hardware)"
+     fake_sensor_commands="$(arg fake_sensor_commands)"
+     initial_positions="${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>
diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro
index b745fab80..48c4f2686 100644
--- a/ur_description/urdf/ur_macro.xacro
+++ b/ur_description/urdf/ur_macro.xacro
@@ -1,317 +1,53 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Base UR robot series xacro macro.
+   <xacro:include filename="$(find ur_description)/urdf/ur_kinematics_macro.xacro"/>
+   <xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" />
 
-    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
-    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
-    (but note that .xacro must still be processed by the xacro command).
-
-    This file models the base kinematic chain of a UR robot, which then gets
-    parameterised by various configuration files to convert it into a UR3(e),
-    UR5(e), UR10(e) or UR16e.
-
-    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
-    offsets, etc) do not correspond to any particular robot. They are defaults
-    only. There WILL be non-zero offsets between the Forward Kinematics results
-    in TF (i.e., robot_state_publisher) and the values reported by the Teach
-    Pendant.
-
-    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
-    parameter MUST point to a .yaml file containing the appropriate values for
-    the targeted robot.
-
-    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
-    described in the readme of that repository to extract the kinematic
-    calibration from the controller and generate the required .yaml file.
-
-    Main author of the migration to yaml configs Ludovic Delval.
-
-    Contributors to previous versions (in no particular order)
-
-     - Denis Stogl
-     - Lovro Ivanov
-     - Felix Messmer
-     - Kelsey Hawkins
-     - Wim Meeussen
-     - Shaun Edwards
-     - Nadia Hammoudeh Garcia
-     - Dave Hershberger
-     - G. vd. Hoorn
-     - Philip Long
-     - Dave Coleman
-     - Miguel Prada
-     - Mathias Luedtke
-     - Marcel Schnirring
-     - Felix von Drigalski
-     - Felix Exner
-     - Jimmy Da Silva
-     - Ajit Krisshna N L
-     - Muhammad Asif Rana
-  -->
-
-  <xacro:macro name="ur_robot" params="
+   <xacro:macro name="ur_robot" params="
     prefix
+    joint_limits_parameters_file
+    kinematics_parameters_file
+    physical_parameters_file
+    visual_parameters_file
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
     safety_limits:=false
     safety_pos_margin:=0.15
     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)}
     ">
 
-    <!-- links -  main serial chain -->
-    <link name="${prefix}base_link"/>
-    <link name="${prefix}base_link_inertia">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <geometry>
-          <mesh filename="${base_visual_mesh}"/>
-        </geometry>
-        <material name="${base_visual_material_name}">
-          <color rgba="${base_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <geometry>
-          <mesh filename="${base_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${base_inertia_radius}" length="${base_inertia_length}" mass="${base_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-      </xacro:cylinder_inertial>
-    </link>
-    <link name="${prefix}shoulder_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <geometry>
-          <mesh filename="${shoulder_visual_mesh}"/>
-        </geometry>
-        <material name="${shoulder_visual_material_name}">
-          <color rgba="${shoulder_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <geometry>
-          <mesh filename="${shoulder_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${shoulder_inertia_radius}" length="${shoulder_inertia_length}" mass="${shoulder_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-      </xacro:cylinder_inertial>
-    </link>
-    <link name="${prefix}upper_arm_link">
-      <visual>
-        <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
-        <geometry>
-          <mesh filename="${upper_arm_visual_mesh}"/>
-        </geometry>
-        <material name="${upper_arm_visual_material_name}">
-          <color rgba="${upper_arm_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
-        <geometry>
-          <mesh filename="${upper_arm_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${upperarm_inertia_radius}" length="${upperarm_inertia_length}" mass="${upper_arm_mass}">
-        <origin xyz="${-0.5 * upperarm_inertia_length} 0.0 ${upper_arm_inertia_offset}" rpy="0 ${pi/2} 0" />
-      </xacro:cylinder_inertial>
-    </link>
-    <link name="${prefix}forearm_link">
-      <visual>
-        <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
-        <geometry>
-          <mesh filename="${forearm_visual_mesh}"/>
-        </geometry>
-        <material name="${forearm_visual_material_name}">
-          <color rgba="${forearm_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
-        <geometry>
-          <mesh filename="${forearm_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${forearm_inertia_radius}" length="${forearm_inertia_length}"  mass="${forearm_mass}">
-        <origin xyz="${-0.5 * forearm_inertia_length} 0.0 ${elbow_offset}" rpy="0 ${pi/2} 0" />
-      </xacro:cylinder_inertial>
-    </link>
-    <link name="${prefix}wrist_1_link">
-      <visual>
-        <origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/>
-        <geometry>
-          <mesh filename="${wrist_1_visual_mesh}"/>
-        </geometry>
-        <material name="${wrist_1_visual_material_name}">
-          <color rgba="${wrist_1_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/>
-        <geometry>
-          <mesh filename="${wrist_1_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${wrist_1_inertia_radius}" length="${wrist_1_inertia_length}"  mass="${wrist_1_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-      </xacro:cylinder_inertial>
-    </link>
-    <link name="${prefix}wrist_2_link">
-      <visual>
-        <origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="${wrist_2_visual_mesh}"/>
-        </geometry>
-        <material name="${wrist_2_visual_material_name}">
-          <color rgba="${wrist_2_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="${wrist_2_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${wrist_2_inertia_radius}" length="${wrist_2_inertia_length}"  mass="${wrist_2_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-      </xacro:cylinder_inertial>
-    </link>
-    <link name="${prefix}wrist_3_link">
-      <visual>
-        <origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/>
-        <geometry>
-          <mesh filename="${wrist_3_visual_mesh}"/>
-        </geometry>
-        <material name="${wrist_3_visual_material_name}">
-          <color rgba="${wrist_3_visual_material_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/>
-        <geometry>
-          <mesh filename="${wrist_3_collision_mesh}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="${wrist_3_inertia_radius}" length="${wrist_3_inertia_length}"  mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 ${-0.5 * wrist_3_inertia_length}" rpy="0 0 0" />
-      </xacro:cylinder_inertial>
-    </link>
-
-    <!-- joints - main serial chain -->
-    <joint name="${prefix}base_link-base_link_inertia" type="fixed">
-      <parent link="${prefix}base_link" />
-      <child link="${prefix}base_link_inertia" />
-      <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
-           frames of the robot/controller have X+ pointing backwards.
-           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
-           link/frame) to introduce the necessary rotation over Z (of pi rad).
-      -->
-      <origin xyz="0 0 0" rpy="0 0 ${pi}" />
-    </joint>
-    <joint name="${prefix}shoulder_pan_joint" type="revolute">
-      <parent link="${prefix}base_link_inertia" />
-      <child link="${prefix}shoulder_link" />
-      <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
-      <axis xyz="0 0 1" />
-      <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
-        effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
-      <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
-      </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-    <joint name="${prefix}shoulder_lift_joint" type="revolute">
-      <parent link="${prefix}shoulder_link" />
-      <child link="${prefix}upper_arm_link" />
-      <origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}" />
-      <axis xyz="0 0 1" />
-      <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"
-        effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/>
-      <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
-      </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-    <joint name="${prefix}elbow_joint" type="revolute">
-      <parent link="${prefix}upper_arm_link" />
-      <child link="${prefix}forearm_link" />
-      <origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" />
-      <axis xyz="0 0 1" />
-      <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"
-        effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/>
-      <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
-      </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-    <joint name="${prefix}wrist_1_joint" type="revolute">
-      <parent link="${prefix}forearm_link" />
-      <child link="${prefix}wrist_1_link" />
-      <origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" />
-      <axis xyz="0 0 1" />
-      <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"
-        effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/>
-      <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
-      </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-    <joint name="${prefix}wrist_2_joint" type="revolute">
-      <parent link="${prefix}wrist_1_link" />
-      <child link="${prefix}wrist_2_link" />
-      <origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" />
-      <axis xyz="0 0 1" />
-      <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"
-             effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/>
-      <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
-      </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-    <joint name="${prefix}wrist_3_joint" type="revolute">
-      <parent link="${prefix}wrist_2_link" />
-      <child link="${prefix}wrist_3_link" />
-      <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" />
-      <axis xyz="0 0 1" />
-      <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"
-             effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/>
-      <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
-      </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-
-    <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
-    <link name="${prefix}base"/>
-    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
-      <!-- Note the rotation over Z of pi radians - as base_link is REP-103
-           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
-           to correctly align 'base' with the 'Base' coordinate system of
-           the UR controller.
-      -->
-      <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-      <parent link="${prefix}base_link"/>
-      <child link="${prefix}base"/>
-    </joint>
-
-    <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
-    <link name="${prefix}flange" />
-    <joint name="${prefix}wrist_3-flange" type="fixed">
-      <parent link="${prefix}wrist_3_link" />
-      <child link="${prefix}flange" />
-      <origin xyz="0 0 0" rpy="0 ${-pi/2.0} ${-pi/2.0}" />
-    </joint>
-
-    <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
-    <link name="${prefix}tool0"/>
-    <joint name="${prefix}flange-tool0" type="fixed">
-      <!-- default toolframe - X+ left, Y+ up, Z+ front -->
-      <origin xyz="0 0 0" rpy="${pi/2.0} 0 ${pi/2.0}"/>
-      <parent link="${prefix}flange"/>
-      <child link="${prefix}tool0"/>
-    </joint>
-  </xacro:macro>
+     <xacro:read_model_data
+       joint_limits_parameters_file="${joint_limits_parameters_file}"
+       kinematics_parameters_file="${kinematics_parameters_file}"
+       physical_parameters_file="${physical_parameters_file}"
+       visual_parameters_file="${visual_parameters_file}"/>
+
+     <!-- arm -->
+     <xacro:ur_robot_kinematics
+       prefix="${prefix}"
+       safety_limits="${safety_limits}"
+       safety_pos_margin="${safety_pos_margin}"
+       safety_k_position="${safety_k_position}"
+       />
+    <!-- ros2 control include -->
+    <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
+    <!-- ros2 control instance -->
+    <xacro:ur_ros2_control
+      name="URPositionHardwareInterface" prefix="${prefix}"
+      use_fake_hardware="${use_fake_hardware}"
+      initial_positions="${load_yaml(initial_positions_file)}"
+      fake_sensor_commands="${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="${robot_ip}" />
+   </xacro:macro>
 </robot>