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Add support for UR7e and UR12e #86

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Merged
merged 2 commits into from
Mar 31, 2025
Merged

Add support for UR7e and UR12e #86

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6992221
Add support for UR7e and UR12e
urfeex Mar 28, 2025
525743d
Add ur_description to upstream workspace
urfeex Mar 31, 2025
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5 changes: 5 additions & 0 deletions Universal_Robots_ROS2_Gazebo_Simulation.humble.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -19,3 +19,8 @@ repositories:
type: git
url: https://github.com/ros-controls/ros2_controllers.git
version: humble

ur_description:
type: git
url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
version: humble
14 changes: 13 additions & 1 deletion ur_simulation_gazebo/launch/ur_sim_control.launch.py
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Expand Up @@ -196,7 +196,19 @@ 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",
"ur12e",
"ur10e",
"ur16e",
"ur20",
"ur30",
],
default_value="ur5e",
)
)
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14 changes: 13 additions & 1 deletion ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
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Expand Up @@ -98,7 +98,19 @@ 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",
"ur12e",
"ur10e",
"ur16e",
"ur20",
"ur30",
],
default_value="ur5e",
)
)
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2 changes: 1 addition & 1 deletion ur_simulation_gazebo/test/test_gazebo.py
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Expand Up @@ -71,7 +71,7 @@
@pytest.mark.launch_test
@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"],
)
def generate_test_description(ur_type):
gazebo = IncludeLaunchDescription(
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