b-robotized · destogl · Jan 19, 2026 · Mar 2, 2025
diff --git a/scripts/setup-robot-description.bash b/scripts/setup-robot-description.bash
@@ -90,11 +90,13 @@ cp -n "$ROBOT_DESCRIPTION_TEMPLATES/materials.xacro" urdf/common/materials.xacro
 # Copy launch files for testing the description
 for file_type in "${LAUNCH_FILE_TYPES[@]}"; do
   mkdir -p launch
+  ROBOT_DESCRIPTION_LAUNCH="launch/${ROBOT_NAME}.launch.xml"
+  cp -n "$ROBOT_DESCRIPTION_TEMPLATES/robot_description.launch.xml" $ROBOT_DESCRIPTION_LAUNCH
   VIEW_ROBOT_LAUNCH="launch/view_${ROBOT_NAME}.launch${file_type}"
   cp -n "$ROBOT_DESCRIPTION_TEMPLATES/view_robot.launch${file_type}" $VIEW_ROBOT_LAUNCH
 
   # sed all needed files
-  FILES_TO_SED=($ROBOT_URDF_XACRO $ROBOT_MACRO $ROBOT_MACRO_ROS2_CONTROL $VIEW_ROBOT_LAUNCH)
+  FILES_TO_SED=($ROBOT_URDF_XACRO $ROBOT_MACRO $ROBOT_MACRO_ROS2_CONTROL $VIEW_ROBOT_LAUNCH $ROBOT_DESCRIPTION_LAUNCH)
 
   for SED_FILE in "${FILES_TO_SED[@]}"; do
     sed -i "s/\\\$PKG_NAME\\\$/${PKG_NAME}/g" $SED_FILE

diff --git a/templates/robot_description/robot_description.launch.xml b/templates/robot_description/robot_description.launch.xml
@@ -0,0 +1,49 @@
+<!--
+Copyright (c) 2025, b»robotized
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+
+Source of this file are templates in https://github.com/b-robotized/ros_team_workspace repository.
+
+Author: Dr. Denis
+-->
+
+<launch>
+  <arg name="description_package"
+       default="$PKG_NAME$"
+       description="Description package of the $robot_name$. Usually the argument is not set, it enables use of a custom description."/>
+  <arg name="robot_name"
+       default="$ROBOT_NAME$"
+       description="Name of the robot which description should be loaded."/>
+  <arg name="prefix"
+       default=""
+       description="Prefix of the joint names, useful for multi-robot setup. If changed than also joint names in the controllers' configuration have to be updated."/>
+  <arg name="use_mock_hardware"
+       default="false"
+       description="Start robot with mock hardware mirroring command to its states."/>
+  <arg name="mock_sensor_commands"
+       default="true"
+       description="Enable mock command interfaces for sensors used for simple simulations. Used only if 'use_mock_hardware' parameter is true."/>
+  <arg name="launch_rviz"
+       default="false"
+       description="Launch RViz?"/>
+
+  <let name="robot_description_content" value="$(command '$(find-exec xacro) $(find-pkg-share $(var description_package))/urdf/$(var $ROBOT_NAME$).urdf.xacro prefix:=$(var prefix) use_mock_hardware:=$(var use_mock_hardware) mock_sensor_commands:=$(var mock_sensor_commands)')" />
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher" output="both">
+    <param name="robot_description" value="$(var robot_description_content)" />
+  </node>
+
+  <node pkg="rviz2" exec="rviz2" output="log" args="-d $(find-pkg-share $(var description_package))/rviz/$ROBOT_NAME$.rviz"/>
+</launch>
diff --git a/templates/robot_description/test_urdf_xacro.py b/templates/robot_description/test_urdf_xacro.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+# Copyright (c) 2025, b»robotized
 # Copyright (c) 2022 FZI Forschungszentrum Informatik
 #
 # Redistribution and use in source and binary forms, with or without
@@ -28,7 +28,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 #
-# Source of this file is https://github.com/StoglRobotics/ros_team_workspace repository.
+# Source of this file is https://github.com/b-robotized/ros_team_workspace repository.
 # Modified from tests in https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
 #
 # Author: Lukas Sackewitz

diff --git a/templates/robot_description/view_robot.launch.py b/templates/robot_description/view_robot.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright (c) 2025, b»robotized
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 #
-# Source of this file is https://github.com/StoglRobotics/ros_team_workspace repository.
+# Source of this file is https://github.com/b-robotized/ros_team_workspace repository.
 #
 # Author: Dr. Denis
 #

diff --git a/templates/robot_description/view_robot.launch.xml b/templates/robot_description/view_robot.launch.xml
@@ -1,11 +1,11 @@
 <!--
-Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+Copyright (c) 2025, b»robotized
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at
 
-    http://www.apache.org/licenses/LICENSE-2.0
+http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
@@ -14,24 +14,18 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
-Source of this file are templates in https://github.com/StoglRobotics/ros_team_workspace repository.
+Source of this file are templates in https://github.com/b-robotized/ros_team_workspace repository.
+
+Author: Dr. Denis
 -->
 
 <launch>
-  <arg name="description_package"
-       default="$PKG_NAME$"
-       description="Description package of the dte_ea_1000. Usually the argument is not set, it enables use of a custom description."/>
-  <arg name="prefix"
-       default=""
-       description="Prefix of the joint names, useful for multi-robot setup. If changed than also joint names in the controllers' configuration have to be updated."/>
-
-  <let name="robot_description_content" value="$(command '$(find-exec xacro) $(find-pkg-share $(var description_package))/urdf/$ROBOT_NAME$.urdf.xacro prefix:=$(var prefix)')" />
-
-  <node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
-
-  <node pkg="robot_state_publisher" exec="robot_state_publisher" output="both">
-    <param name="robot_description" value="$(var robot_description_content)" />
-  </node>
-
-  <node pkg="rviz2" exec="rviz2" output="log" args="-d $(find-pkg-share $(var description_package))/rviz/$ROBOT_NAME$.rviz"/>
+  <launch>
+    <include file="$(find-pkg-share bdl_description)/launch/$ROBOT_NAME$.launch.xml" >
+      <arg name="use_mock_hardware" value="false" />
+      <arg name="launch_rviz" value="true" />
+    </include>
+
+    <node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
+  </launch>
 </launch>
diff --git a/templates/ros2_control/robot_ros2_control.launch.py b/templates/ros2_control/robot_ros2_control.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright (c) 2025, b»robotized
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,7 +14,7 @@
 
 #
 # Source of this file are templates in
-# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+# [RosTeamWorkspace](https://github.com/b-robotized/ros_team_workspace) repository.
 #
 # Author: Dr. Denis
 #

diff --git a/templates/ros2_control/robot_ros2_control.launch.xml b/templates/ros2_control/robot_ros2_control.launch.xml
@@ -1,11 +1,11 @@
 <!--
-Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+Copyright (c) 2025, b»robotized
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at
 
-    http://www.apache.org/licenses/LICENSE-2.0
+http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
@@ -14,8 +14,7 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
-Source of this file are templates in
-[RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+Source of this file are templates in https://github.com/b-robotized/ros_team_workspace repository.
 
 Authors: Riyan Jose, Manuel Muth, Dr. Denis
 -->
@@ -49,30 +48,24 @@ Authors: Riyan Jose, Manuel Muth, Dr. Denis
        default="forward_position_controller"
        description="Robot controller to start inactive. Choices are: [forward_position_controller, joint_trajectory_controller]."/>
 
-  <let name="robot_description_content" value="$(command '$(find-exec xacro) $(find-pkg-share $(var description_package))/urdf/$(var description_file).urdf.xacro prefix:=$(var prefix) use_mock_hardware:=$(var use_mock_hardware) mock_sensor_commands:=$(var mock_sensor_commands)')"/>
-
-
-  <!--robot_state_pub_node-->
-  <node pkg="robot_state_publisher" exec="robot_state_publisher" output="both">
-    <param name="robot_description" value="$(var robot_description_content)"/>
-  </node>
+  <include file="$(find-pkg-share $(var description_package))/launch/$ROBOT_NAME$.launch.xml">
+    <arg name="prefix" value="$(var prefix)" />
+    <arg name="use_mock_hardware" value="$(var simulation)" />
+    <arg name="launch_rviz" value="true" />
+  </include>
 
   <!--control_node-->
   <node pkg="controller_manager" exec="ros2_control_node" output="both">
-    <param name="robot_description" value="$(var robot_description_content)" />
     <param from="$(find-pkg-share $(var runtime_config_package))/config/$(var controllers_file).yaml"/>
   </node>
 
-  <!--rviz_node-->
-  <node pkg="rviz2" exec="rviz2" output="log" args="-d $(find-pkg-share $(var description_package))/rviz/$ROBOT_NAME$.rviz"/>
-
-  <!--joint_state_braodcaster_spawner-->
+  <!--joint_state_braodcaster spawner-->
   <node pkg="controller_manager" exec="spawner" args="joint_state_broadcaster"/>
 
-  <!--robot_controller_spawner-->
+  <!--robot_controller spawner-->
   <node pkg="controller_manager" exec="spawner" args="$(var robot_controller)"/>
 
-  <!--robot_controller_spawner-->
+  <!--robot_controller spawner-->
   <node pkg="controller_manager" exec="spawner" args="$(var inactive_robot_controller) --inactive"/>
 
 </launch>
diff --git a/templates/ros2_control/robot_ros2_control_sim.launch.py b/templates/ros2_control/robot_ros2_control_sim.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright (c) 2025, b»robotized
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,7 +14,7 @@
 
 #
 # Source of this file are templates in
-# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+# [RosTeamWorkspace](https://github.com/b-robotized/ros_team_workspace) repository.
 #
 # Author: Dr. Denis
 #

diff --git a/templates/ros2_control/test_forward_position_controller.launch.py b/templates/ros2_control/test_forward_position_controller.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright (c) 2025, b»robotized
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,7 +14,7 @@
 
 #
 # Source of this file are templates in
-# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+# [RosTeamWorkspace](https://github.com/b-robotized/ros_team_workspace) repository.
 #
 # Author: Dr. Denis
 #

diff --git a/templates/ros2_control/test_forward_position_controller.launch.xml b/templates/ros2_control/test_forward_position_controller.launch.xml
@@ -1,11 +1,11 @@
 <!--
-Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+Copyright (c) 2025, b»robotized
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at
 
-    http://www.apache.org/licenses/LICENSE-2.0
+http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
@@ -14,8 +14,7 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
-Source of this file are templates in
-[RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+Source of this file are templates in https://github.com/b-robotized/ros_team_workspace repository.
 
 Authors: Riyan Jose, Dr. Denis
 -->

diff --git a/templates/ros2_control/test_goal_publishers_config.yaml b/templates/ros2_control/test_goal_publishers_config.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright (c) 2025, b»robotized
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,7 +14,7 @@
 
 #
 # Source of this file are templates in
-# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+# [RosTeamWorkspace](https://github.com/b-robotized/ros_team_workspace) repository.
 #
 
 publisher_forward_position_controller:

diff --git a/templates/ros2_control/test_joint_trajectory_controller.launch.py b/templates/ros2_control/test_joint_trajectory_controller.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright (c) 2025, b»robotized
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,7 +14,7 @@
 
 #
 # Source of this file are templates in
-# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+# [RosTeamWorkspace](https://github.com/b-robotized/ros_team_workspace) repository.
 #
 # Author: Dr. Denis
 #

diff --git a/templates/ros2_control/test_joint_trajectory_controller.launch.xml b/templates/ros2_control/test_joint_trajectory_controller.launch.xml
@@ -1,11 +1,11 @@
 <!--
-Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+Copyright (c) 2025, b»robotized
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at
 
-    http://www.apache.org/licenses/LICENSE-2.0
+http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
@@ -14,8 +14,7 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
-Source of this file are templates in
-[RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+Source of this file are templates in https://github.com/b-robotized/ros_team_workspace repository.
 
 Authors: Riyan Jose, Dr. Denis
 -->