[ur_description] add robot_model parameter to ur.xacro and use that

by using the main ur.xacro file we revert bypassing the macro specialization as introduced in 9d02cca.
fmauch · Oct 12, 2021 · 446e962 · danielcranston · Feb 22, 2022 · 446e962
1 parent 9d02cca
commit 446e962
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch
@@ -30,7 +30,8 @@
        include the ur_macro.xacro file into it. Then write a new .launch file
        to load it onto the parameter server.
   -->
-  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/$(arg robot_model).xacro'
+  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur.xacro'
+    robot_model:=$(arg robot_model)
     joint_limit_params:=$(arg joint_limit_params)
     kinematics_params:=$(arg kinematics_params)
     physical_params:=$(arg physical_params)

diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)">
+  <xacro:arg name="robot_model" default="ur"/>
 
    <!-- import main macro -->
    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>