Better (and correct) non-joint interface handling

Author: Dan Zimmerman

urdf/ur.ros2_control.xacro

@@ -4,7 +4,7 @@
   <xacro:macro name="ur_ros2_control" params="
     name
     prefix
-    add_state_and_command_interfaces
+    add_non_joint_interfaces:=true
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
     transmission_hw_interface:=hardware_interface/PositionJointInterface
     **hardware_system
@@ -114,7 +114,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <xacro:unless value="${add_state_and_command_interfaces}">
+      <xacro:if value="${add_non_joint_interfaces}">
         <sensor name="tcp_fts_sensor">
           <state_interface name="force.x"/>
           <state_interface name="force.y"/>
@@ -263,7 +263,7 @@
           <state_interface name="initialized"/>
         </gpio>
 
-      </xacro:unless>
+      </xacro:if>
 
     </ros2_control>
 

urdf/ur.urdf.xacro

@@ -82,7 +82,7 @@
    <!-- ur_robot_driver would construct the complicated block with all the real hardware parameters -->
    <xacro:ur_ros2_control
      name="$(arg name)" prefix="$(arg prefix)"
-     add_state_and_command_interfaces="true"
+     add_non_joint_interfaces="true"
      initial_positions="${xacro.load_yaml(initial_positions_file)}"
       >
       <hardware_system>