Add support for UR7e and UR12e (#86)

Author: urfeex

ur_simulation_gz/launch/ur_sim_control.launch.py

@@ -200,7 +200,19 @@ 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

@@ -83,7 +83,19 @@ 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_description.py

@@ -38,7 +38,8 @@
 
 
 @pytest.mark.parametrize(
-    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"]
+    "ur_type",
+    ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur20", "ur30"],
 )
 @pytest.mark.parametrize("prefix", ["", "my_ur_"])
 def test_ur_urdf_xacro(ur_type, prefix):

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():

ur_simulation_gz/urdf/ur_gz.urdf.xacro

@@ -7,7 +7,7 @@
 
   <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
 
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30 -->
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="ur5x"/>