From 817dff012e2a92cde4701eb788e1fba71c2332c8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABtan=20Dufay?= <gaetan.dufay@stelia-aerospace.com>
Date: Tue, 16 Jun 2020 09:19:30 +0200
Subject: [PATCH 1/6] Add prefix for ur10

---
 ur_description/launch/ur10_upload.launch                | 7 +++++--
 ur_description/urdf/ur10_joint_limited_robot.urdf.xacro | 3 ++-
 ur_description/urdf/ur10_robot.urdf.xacro               | 3 ++-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch
index 0dba45ad7..9dfda66fb 100644
--- a/ur_description/launch/ur10_upload.launch
+++ b/ur_description/launch/ur10_upload.launch
@@ -3,11 +3,14 @@
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
+  <arg name="prefix" default="" doc="Prefix robot joints"/>
 
   <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'
     transmission_hw_interface:=$(arg transmission_hw_interface)
-    kinematics_config:=$(arg kinematics_config)" />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
   <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'
     transmission_hw_interface:=$(arg transmission_hw_interface)
-    kinematics_config:=$(arg kinematics_config)" />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
 </launch>
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
index df275bc94..fe0f564f6 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
@@ -3,6 +3,7 @@
        name="ur10" >
 
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="prefix" default=""/>
 
   <!-- common stuff -->
   <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
@@ -12,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
-  <xacro:ur10_robot prefix="" joint_limited="true"
+  <xacro:ur10_robot prefix="$(arg prefix)" joint_limited="true"
     shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
     shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
     elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro
index f8a8630ae..0cd55827f 100644
--- a/ur_description/urdf/ur10_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_robot.urdf.xacro
@@ -3,6 +3,7 @@
        name="ur10" >
 
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="prefix" default=""/>
 
   <!-- common stuff -->
   <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
@@ -12,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
-  <xacro:ur10_robot prefix="" joint_limited="false"
+  <xacro:ur10_robot prefix="$(arg prefix)" joint_limited="false"
     transmission_hw_interface="$(arg transmission_hw_interface)"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />

From dd16f1f205aa30eead5aa223dd54b10989c655bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABtan=20Dufay?= <gaetan.dufay@stelia-aerospace.com>
Date: Tue, 16 Jun 2020 09:23:24 +0200
Subject: [PATCH 2/6] Add prefix for ur5

---
 ur_description/launch/ur5_upload.launch                | 7 +++++--
 ur_description/urdf/ur5_joint_limited_robot.urdf.xacro | 3 ++-
 ur_description/urdf/ur5_robot.urdf.xacro               | 3 ++-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch
index 8341e62dc..59043d85b 100644
--- a/ur_description/launch/ur5_upload.launch
+++ b/ur_description/launch/ur5_upload.launch
@@ -3,11 +3,14 @@
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml"/>
+  <arg name="prefix" default="" doc="Prefix robot joints"/>
 
   <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'
     transmission_hw_interface:=$(arg transmission_hw_interface)
-    kinematics_config:=$(arg kinematics_config)" />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
   <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'
     transmission_hw_interface:=$(arg transmission_hw_interface)
-    kinematics_config:=$(arg kinematics_config)" />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
 </launch>
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
index 1781264ae..4f5e2ec89 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
@@ -3,6 +3,7 @@
        name="ur5" >
 
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="prefix" default=""/>
 
   <!-- common stuff -->
   <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
@@ -12,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml"/>
-  <xacro:ur5_robot prefix="" joint_limited="true"
+  <xacro:ur5_robot prefix="$(arg prefix)" joint_limited="true"
     shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
     shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
     elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
diff --git a/ur_description/urdf/ur5_robot.urdf.xacro b/ur_description/urdf/ur5_robot.urdf.xacro
index 43e64eb66..396c584dd 100644
--- a/ur_description/urdf/ur5_robot.urdf.xacro
+++ b/ur_description/urdf/ur5_robot.urdf.xacro
@@ -3,6 +3,7 @@
        name="ur5" >
 
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="prefix" default=""/>
 
   <!-- common stuff -->
   <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
@@ -12,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml"/>
-  <xacro:ur5_robot prefix="" joint_limited="false"
+  <xacro:ur5_robot prefix="$(arg prefix)" joint_limited="false"
     transmission_hw_interface="$(arg transmission_hw_interface)"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />

From 5f85bb3353d8613dd51fa2910887f1f80595c284 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABtan=20Dufay?= <gaetan.dufay@stelia-aerospace.com>
Date: Tue, 16 Jun 2020 09:25:39 +0200
Subject: [PATCH 3/6] Add prefix for ur3

---
 ur_description/launch/ur3_upload.launch                | 7 +++++--
 ur_description/urdf/ur3_joint_limited_robot.urdf.xacro | 3 ++-
 ur_description/urdf/ur3_robot.urdf.xacro               | 3 ++-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch
index dc58a2a26..1177f01fe 100644
--- a/ur_description/launch/ur3_upload.launch
+++ b/ur_description/launch/ur3_upload.launch
@@ -3,11 +3,14 @@
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml"/>
+  <arg name="prefix" default="" doc="Prefix robot joints"/>
 
   <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro'
     transmission_hw_interface:=$(arg transmission_hw_interface)
-    kinematics_config:=$(arg kinematics_config)" />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
   <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'
     transmission_hw_interface:=$(arg transmission_hw_interface)
-    kinematics_config:=$(arg kinematics_config)" />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
 </launch>
diff --git a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
index f09445bb1..f16d939ae 100644
--- a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
@@ -3,6 +3,7 @@
        name="ur3" >
 
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="prefix" default=""/>
 
   <!-- common stuff -->
   <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
@@ -12,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml"/>
-  <xacro:ur3_robot prefix="" joint_limited="true"
+  <xacro:ur3_robot prefix="$(arg prefix)" joint_limited="true"
     shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
     shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
     elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
diff --git a/ur_description/urdf/ur3_robot.urdf.xacro b/ur_description/urdf/ur3_robot.urdf.xacro
index ea97c5077..3bdbac188 100644
--- a/ur_description/urdf/ur3_robot.urdf.xacro
+++ b/ur_description/urdf/ur3_robot.urdf.xacro
@@ -3,6 +3,7 @@
        name="ur3" >
 
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="prefix" default=""/>
 
   <!-- common stuff -->
   <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
@@ -12,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml"/>
-  <xacro:ur3_robot prefix="" joint_limited="false"
+  <xacro:ur3_robot prefix="$(arg prefix)" joint_limited="false"
     transmission_hw_interface="$(arg transmission_hw_interface)"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />

From 7202431d5e39080f57e3cd9f5228f17ff5cdc99a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABtan=20Dufay?= <gaetan.dufay@stelia-aerospace.com>
Date: Tue, 16 Jun 2020 12:36:36 +0200
Subject: [PATCH 4/6] add prefix to base_link

---
 ur_description/urdf/ur10_joint_limited_robot.urdf.xacro | 2 +-
 ur_description/urdf/ur10_robot.urdf.xacro               | 2 +-
 ur_description/urdf/ur3_joint_limited_robot.urdf.xacro  | 2 +-
 ur_description/urdf/ur3_robot.urdf.xacro                | 2 +-
 ur_description/urdf/ur5_joint_limited_robot.urdf.xacro  | 2 +-
 ur_description/urdf/ur5_robot.urdf.xacro                | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
index fe0f564f6..a74b79664 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
@@ -28,7 +28,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro
index 0cd55827f..d62644837 100644
--- a/ur_description/urdf/ur10_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_robot.urdf.xacro
@@ -22,7 +22,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
index f16d939ae..26a24be0f 100644
--- a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
@@ -28,7 +28,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_description/urdf/ur3_robot.urdf.xacro b/ur_description/urdf/ur3_robot.urdf.xacro
index 3bdbac188..bf33fd9d3 100644
--- a/ur_description/urdf/ur3_robot.urdf.xacro
+++ b/ur_description/urdf/ur3_robot.urdf.xacro
@@ -22,7 +22,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
index 4f5e2ec89..1605579f6 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
@@ -28,7 +28,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_description/urdf/ur5_robot.urdf.xacro b/ur_description/urdf/ur5_robot.urdf.xacro
index 396c584dd..4098920e2 100644
--- a/ur_description/urdf/ur5_robot.urdf.xacro
+++ b/ur_description/urdf/ur5_robot.urdf.xacro
@@ -22,7 +22,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 

From 5ee7241092ddaba7e33c15a3e7d8c07533c68ffe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABtan=20Dufay?= <gaetan.dufay@stelia-aerospace.com>
Date: Tue, 16 Jun 2020 14:00:24 +0200
Subject: [PATCH 5/6] add e-series

---
 ur_e_description/launch/ur10e_upload.launch              | 9 +++++----
 ur_e_description/launch/ur3e_upload.launch               | 9 +++++----
 ur_e_description/launch/ur5e_upload.launch               | 9 +++++----
 .../urdf/ur10e_joint_limited_robot.urdf.xacro            | 7 +++++--
 ur_e_description/urdf/ur10e_robot.urdf.xacro             | 7 +++++--
 .../urdf/ur3e_joint_limited_robot.urdf.xacro             | 7 +++++--
 ur_e_description/urdf/ur3e_robot.urdf.xacro              | 7 +++++--
 .../urdf/ur5e_joint_limited_robot.urdf.xacro             | 7 +++++--
 ur_e_description/urdf/ur5e_robot.urdf.xacro              | 7 +++++--
 9 files changed, 45 insertions(+), 24 deletions(-)

diff --git a/ur_e_description/launch/ur10e_upload.launch b/ur_e_description/launch/ur10e_upload.launch
index 1ed5b49c3..08c6b58a7 100644
--- a/ur_e_description/launch/ur10e_upload.launch
+++ b/ur_e_description/launch/ur10e_upload.launch
@@ -2,13 +2,14 @@
 <launch>
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
+  <arg name="prefix" default="" doc="Prefix robot joints"/>
 
   <param unless="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_robot.urdf.xacro'
-      kinematics_config:=$(arg kinematics_config)"
-    />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
   <param if="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_joint_limited_robot.urdf.xacro'
-      kinematics_config:=$(arg kinematics_config)"
-    />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
 </launch>
diff --git a/ur_e_description/launch/ur3e_upload.launch b/ur_e_description/launch/ur3e_upload.launch
index 1b2893db8..b2db36c02 100644
--- a/ur_e_description/launch/ur3e_upload.launch
+++ b/ur_e_description/launch/ur3e_upload.launch
@@ -2,13 +2,14 @@
 <launch>
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
+  <arg name="prefix" default="" doc="Prefix robot joints"/>
 
   <param unless="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_robot.urdf.xacro'
-      kinematics_config:=$(arg kinematics_config)"
-    />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
   <param if="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_joint_limited_robot.urdf.xacro'
-      kinematics_config:=$(arg kinematics_config)"
-    />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
 </launch>
diff --git a/ur_e_description/launch/ur5e_upload.launch b/ur_e_description/launch/ur5e_upload.launch
index 5db19d887..72f90c23b 100644
--- a/ur_e_description/launch/ur5e_upload.launch
+++ b/ur_e_description/launch/ur5e_upload.launch
@@ -2,13 +2,14 @@
 <launch>
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
+  <arg name="prefix" default="" doc="Prefix robot joints"/>
 
   <param unless="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_robot.urdf.xacro'
-      kinematics_config:=$(arg kinematics_config)"
-    />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
   <param if="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_joint_limited_robot.urdf.xacro'
-      kinematics_config:=$(arg kinematics_config)"
-    />
+    kinematics_config:=$(arg kinematics_config)
+    prefix:=$(arg prefix)" />
 </launch>
diff --git a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
index c5ad6f927..3867be22c 100644
--- a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
@@ -2,6 +2,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
   name="ur10e" >
 
+  <!-- arm prefix -->
+  <xacro:arg name="prefix" default=""/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -10,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
-  <xacro:ur10e_robot prefix="" joint_limited="true"
+  <xacro:ur10e_robot prefix="$(arg prefix)" joint_limited="true"
     shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
     shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
     elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
@@ -24,7 +27,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_e_description/urdf/ur10e_robot.urdf.xacro b/ur_e_description/urdf/ur10e_robot.urdf.xacro
index b101ea896..8c88fe7c1 100644
--- a/ur_e_description/urdf/ur10e_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur10e_robot.urdf.xacro
@@ -2,6 +2,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="ur10e" >
 
+  <!-- arm prefix -->
+  <xacro:arg name="prefix" default=""/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -10,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
-  <xacro:ur10e_robot prefix="" joint_limited="false"
+  <xacro:ur10e_robot prefix="$(arg prefix)" joint_limited="false"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />
 
@@ -18,7 +21,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
index 617a20746..9402cf776 100644
--- a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
@@ -2,6 +2,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="ur3e" >
 
+  <!-- arm prefix -->
+  <xacro:arg name="prefix" default=""/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -10,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
-  <xacro:ur3e_robot prefix="" joint_limited="true"
+  <xacro:ur3e_robot prefix="$(arg prefix)" joint_limited="true"
     shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
     shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
     elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
@@ -24,7 +27,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_e_description/urdf/ur3e_robot.urdf.xacro b/ur_e_description/urdf/ur3e_robot.urdf.xacro
index 11e2fe5e6..ff3e2fd3e 100644
--- a/ur_e_description/urdf/ur3e_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur3e_robot.urdf.xacro
@@ -2,6 +2,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
   name="ur3e" >
 
+  <!-- arm prefix -->
+  <xacro:arg name="prefix" default=""/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -10,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
-  <xacro:ur3e_robot prefix="" joint_limited="false"
+  <xacro:ur3e_robot prefix="$(arg prefix)" joint_limited="false"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />
 
@@ -18,7 +21,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
index 87ed0a80f..43be8541d 100644
--- a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
@@ -2,6 +2,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="ur5e" >
 
+  <!-- arm prefix -->
+  <xacro:arg name="prefix" default=""/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -10,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
-  <xacro:ur5e_robot prefix="" joint_limited="true"
+  <xacro:ur5e_robot prefix="$(arg prefix)" joint_limited="true"
     shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
     shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
     elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
@@ -24,7 +27,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
diff --git a/ur_e_description/urdf/ur5e_robot.urdf.xacro b/ur_e_description/urdf/ur5e_robot.urdf.xacro
index 3d7e39574..d2a2488fb 100644
--- a/ur_e_description/urdf/ur5e_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur5e_robot.urdf.xacro
@@ -2,6 +2,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="ur5e" >
 
+  <!-- arm prefix -->
+  <xacro:arg name="prefix" default=""/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -10,7 +13,7 @@
 
   <!-- arm -->
   <xacro:arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
-  <xacro:ur5e_robot prefix="" joint_limited="false"
+  <xacro:ur5e_robot prefix="$(arg prefix)" joint_limited="false"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
     />
 
@@ -18,7 +21,7 @@
 
   <joint name="world_joint" type="fixed">
     <parent link="world" />
-    <child link = "base_link" />
+    <child link="$(arg prefix)base_link" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 

From 2307bccbd58a4e91649ff191e095d43d4e558948 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABtan=20Dufay?= <gaetan.dufay@stelia-aerospace.com>
Date: Thu, 17 Sep 2020 14:58:02 +0200
Subject: [PATCH 6/6] update README

---
 README.md | 139 +++++-------------------------------------------------
 1 file changed, 13 insertions(+), 126 deletions(-)

diff --git a/README.md b/README.md
index 9a973578f..cc4fe40f7 100644
--- a/README.md
+++ b/README.md
@@ -1,130 +1,17 @@
-# Universal Robot
+# universal_robot
+Forked from [universal_robot](https://github.com/fmauch/universal_robot)
+For more information, refer to it.
 
-[![Build Status](http://build.ros.org/job/Kdev__universal_robot__ubuntu_xenial_amd64/badge/icon)](http://build.ros.org/job/Kdev__universal_robot__ubuntu_xenial_amd64)
-[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
-[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
+## Getting Started
+Package needed by Universal_Robots_ROS_Driver, not to be used directly.
+Modification has been done to simplify Aldo's integration
 
-[![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
-
-[ROS-Industrial](http://wiki.ros.org/Industrial) Universal Robot meta-package. See the [ROS wiki](http://wiki.ros.org/universal_robot) page for compatibility information and other more information.
-
-
-__Installation__
-
-There are two different ways to install the packages in this repository. The following sections detail installing the packages using the binary distribution and building them from source in a Catkin workspace.
-
-
-___Using apt (Ubuntu, Debian)___
-
-On supported Linux distributions (Ubuntu, up to 16.04 (Xenial), `i386` and `amd64`) and ROS versions:
-
-```
-sudo apt-get install ros-$ROS_DISTRO-universal-robot
-```
-
-replace `$ROS_DISTRO` with `hydro`, `indigo` or `kinetic`, depending on which ROS version you have installed.
-
-
-___Building from Source___
-
-There are releases available for ROS Hydro, Indigo and Kinetic. However, for the latest features and developments you might want to build the packages from source.
-
-**NOTE**: please prefer using the binary release (see previous section) over building from source where possible. Source installs will not be automatically updated by new package releases and require more work to setup.
-
-The following instructions assume that a [Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) has been created at `$HOME/catkin_ws` and that the source space is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine.
-
-In all other cases the packages will have to be build from sources in a Catkin workspace: 
-
-```
-cd $HOME/catkin_ws/src
-
-# retrieve the sources (replace '$ROS_DISTRO' with the ROS version you are using)
-git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/universal_robot.git
-
-cd $HOME/catkin_ws
-
-# checking dependencies (again: replace '$ROS_DISTRO' with the ROS version you are using)
-rosdep update
-rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src
-
-# building
-catkin_make
-
-# activate this workspace
-source $HOME/catkin_ws/devel/setup.bash
-```
-
-
-__Usage__
-
-___With real Hardware___
-There are launch files available to bringup a real robot - either UR5 or UR10.  
-In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly.
-
-Don't forget to source the correct setup shell files and use a new terminal for each command!   
-
-To bring up the real robot, run:
-
-```roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]```
-
-
-CAUTION:  
-Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.
-
-
-___MoveIt! with real Hardware___  
-Additionally, you can use MoveIt! to control the robot.  
-There exist MoveIt! configuration packages for both robots.  
-
-For setting up the MoveIt! nodes to allow motion planning run:
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch```
-
-For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-NOTE:  
-As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:  
-
-```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]```
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true```
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-___Usage with Gazebo Simulation___  
-There are launch files available to bringup a simulated robot - either UR5 or UR10.  
-In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly.
-
-Don't forget to source the correct setup shell files and use a new terminal for each command!   
-
-To bring up the simulated robot in Gazebo, run:
-
-```roslaunch ur_gazebo ur5.launch```
-
-
-___MoveIt! with a simulated robot___  
-Again, you can use MoveIt! to control the simulated robot.  
-
-For setting up the MoveIt! nodes to allow motion planning run:
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true```
-
-For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-NOTE:  
-As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:  
-
-```roslaunch ur_gazebo ur5.launch limited:=true```
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true```
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
+## Authors
+* **Dufay Gaëtan** - *Initial work* - [steliaRT](https://github.com/steliaRT)
 
+## License
+This project is licensed under Stelia Aerospace License
 
+## See also
+* [universal_robot](https://github.com/fmauch/universal_robot)
+* [Universal_Robots_ROS_Driver](https://github.com/steliaRT/Universal_Robots_ROS_Driver)