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Move out ros2_control macro from ur kinematic macro #496

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Move out ros2_control macro from ur kinematic macro #496

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026a647
Move out ros2_control macro from ur kinematic macro
p0rys Sep 23, 2022
4c3eb55
Added another macro layer for inclusion
Oct 5, 2022
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14 changes: 12 additions & 2 deletions ur_description/urdf/ur.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,12 @@
<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: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:ur_robot
prefix="$(arg prefix)"
joint_limits_parameters_file="$(arg joint_limit_params)"
Expand All @@ -36,5 +41,10 @@
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>
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