Add support for UR7e and UR12e (backport #86) (#87)

Author: mergify[bot]

ur_simulation_gz/launch/ur_sim_control.launch.py

@@ -215,7 +215,19 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur7e",
+                "ur10",
+                "ur10e",
+                "ur12e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
             default_value="ur5e",
         )
     )

ur_simulation_gz/launch/ur_sim_moveit.launch.py

@@ -96,7 +96,19 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur7e",
+                "ur10",
+                "ur10e",
+                "ur12e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
             default_value="ur5e",
         )
     )

ur_simulation_gz/test/test_gz.py

@@ -74,7 +74,7 @@
 # might change, once the gz launch system migration is done using gzserver and such....
 # @launch_testing.parametrize(
 # "ur_type",
-# ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur20", "ur30"],
 # )
 @pytest.mark.launch_test
 def generate_test_description():