From e4eb54718edc6ff414d3c046f2589b798b15f9b2 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 2 Jul 2020 21:38:32 +0200
Subject: [PATCH 1/3] description: main macro xacro is not a top-level.

So move to include directory.
---
 ur_description/urdf/{ => inc}/ur_macro.xacro | 0
 ur_description/urdf/ur.xacro                 | 2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename ur_description/urdf/{ => inc}/ur_macro.xacro (100%)

diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro
similarity index 100%
rename from ur_description/urdf/ur_macro.xacro
rename to ur_description/urdf/inc/ur_macro.xacro
diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
index 0c376c5b7..5e0664646 100644
--- a/ur_description/urdf/ur.xacro
+++ b/ur_description/urdf/ur.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur">
 
    <!-- import main macro -->
-   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+   <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
 
    <!-- parameters -->
    <xacro:arg name="joint_limit_params" default=""/>

From 8c84f2bc37883692b2d25c9081beeaa7330cfe59 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 2 Jul 2020 21:59:39 +0200
Subject: [PATCH 2/3] description: provide convenience top-levels and macros.

These avoid users having to provide values for *all* arguments of the 'ur_robot' macro.

In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi).
With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones.

Users looking to include a UR into a larger scene or composite xacro macro should 'xacro:include' these '_macro.xacro' files.

The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults.
---
 ur_description/urdf/inc/ur10_macro.xacro  | 47 +++++++++++++++++++++++
 ur_description/urdf/inc/ur10e_macro.xacro | 47 +++++++++++++++++++++++
 ur_description/urdf/inc/ur16e_macro.xacro | 47 +++++++++++++++++++++++
 ur_description/urdf/inc/ur3_macro.xacro   | 47 +++++++++++++++++++++++
 ur_description/urdf/inc/ur3e_macro.xacro  | 47 +++++++++++++++++++++++
 ur_description/urdf/inc/ur5_macro.xacro   | 47 +++++++++++++++++++++++
 ur_description/urdf/inc/ur5e_macro.xacro  | 47 +++++++++++++++++++++++
 ur_description/urdf/ur10.xacro            | 22 +++++++++++
 ur_description/urdf/ur10e.xacro           | 22 +++++++++++
 ur_description/urdf/ur16e.xacro           | 22 +++++++++++
 ur_description/urdf/ur3.xacro             | 22 +++++++++++
 ur_description/urdf/ur3e.xacro            | 22 +++++++++++
 ur_description/urdf/ur5.xacro             | 22 +++++++++++
 ur_description/urdf/ur5e.xacro            | 22 +++++++++++
 14 files changed, 483 insertions(+)
 create mode 100644 ur_description/urdf/inc/ur10_macro.xacro
 create mode 100644 ur_description/urdf/inc/ur10e_macro.xacro
 create mode 100644 ur_description/urdf/inc/ur16e_macro.xacro
 create mode 100644 ur_description/urdf/inc/ur3_macro.xacro
 create mode 100644 ur_description/urdf/inc/ur3e_macro.xacro
 create mode 100644 ur_description/urdf/inc/ur5_macro.xacro
 create mode 100644 ur_description/urdf/inc/ur5e_macro.xacro
 create mode 100644 ur_description/urdf/ur10.xacro
 create mode 100644 ur_description/urdf/ur10e.xacro
 create mode 100644 ur_description/urdf/ur16e.xacro
 create mode 100644 ur_description/urdf/ur3.xacro
 create mode 100644 ur_description/urdf/ur3e.xacro
 create mode 100644 ur_description/urdf/ur5.xacro
 create mode 100644 ur_description/urdf/ur5e.xacro

diff --git a/ur_description/urdf/inc/ur10_macro.xacro b/ur_description/urdf/inc/ur10_macro.xacro
new file mode 100644
index 000000000..1e853659a
--- /dev/null
+++ b/ur_description/urdf/inc/ur10_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR10.
+
+    This file can be used when composing a more complex scene with one or more
+    UR10 robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur10_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur10/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur10/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur10/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur10/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/inc/ur10e_macro.xacro b/ur_description/urdf/inc/ur10e_macro.xacro
new file mode 100644
index 000000000..fe0f0f265
--- /dev/null
+++ b/ur_description/urdf/inc/ur10e_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR10e.
+
+    This file can be used when composing a more complex scene with one or more
+    UR10e robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur10e_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur10e/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur10e/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur10e/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur10e/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/inc/ur16e_macro.xacro b/ur_description/urdf/inc/ur16e_macro.xacro
new file mode 100644
index 000000000..302d530aa
--- /dev/null
+++ b/ur_description/urdf/inc/ur16e_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR16e.
+
+    This file can be used when composing a more complex scene with one or more
+    UR16e robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur16e_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur16e/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur16e/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur16e/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur16e/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/inc/ur3_macro.xacro b/ur_description/urdf/inc/ur3_macro.xacro
new file mode 100644
index 000000000..5a569f5a8
--- /dev/null
+++ b/ur_description/urdf/inc/ur3_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR3.
+
+    This file can be used when composing a more complex scene with one or more
+    UR3 robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur3_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur3/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur3/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur3/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur3/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/inc/ur3e_macro.xacro b/ur_description/urdf/inc/ur3e_macro.xacro
new file mode 100644
index 000000000..4695c5ea5
--- /dev/null
+++ b/ur_description/urdf/inc/ur3e_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR3e.
+
+    This file can be used when composing a more complex scene with one or more
+    UR3e robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur3e_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur3e/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur3e/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur3e/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur3e/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/inc/ur5_macro.xacro b/ur_description/urdf/inc/ur5_macro.xacro
new file mode 100644
index 000000000..645b240c1
--- /dev/null
+++ b/ur_description/urdf/inc/ur5_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR5.
+
+    This file can be used when composing a more complex scene with one or more
+    UR5 robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur5_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur5/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur5/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur5/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur5/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/inc/ur5e_macro.xacro b/ur_description/urdf/inc/ur5e_macro.xacro
new file mode 100644
index 000000000..44cf92b3b
--- /dev/null
+++ b/ur_description/urdf/inc/ur5e_macro.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Convenience wrapper for the 'ur_robot' macro which provides default values
+    for the various "parameters files" parameters for a UR5e.
+
+    This file can be used when composing a more complex scene with one or more
+    UR5e robots.
+
+    While the generic 'ur_robot' macro could also be used, it would require
+    the user to provide values for all parameters, as that macro does not set
+    any model-specific defaults (not even for the generic parameters, such as
+    the visual and physical parameters and joint limits).
+
+    Refer to the main 'ur_macro.xacro' in this package for information about
+    use, contributors and limitations.
+
+    NOTE: users will most likely want to override *at least* the
+          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
+          model will be used, which will almost certainly not correspond to any
+          real robot.
+  -->
+  <xacro:macro name="ur5e_robot" params="
+   prefix
+   joint_limits_parameters_file:='$(find ur_description)/config/ur5e/joint_limits.yaml'
+   kinematics_parameters_file:='$(find ur_description)/config/ur5e/default_kinematics.yaml'
+   physical_parameters_file:='$(find ur_description)/config/ur5e/physical_parameters.yaml'
+   visual_parameters_file:='$(find ur_description)/config/ur5e/visual_parameters.yaml'
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false
+   safety_pos_margin:=0.15
+   safety_k_position:=20"
+  >
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/ur10.xacro b/ur_description/urdf/ur10.xacro
new file mode 100644
index 000000000..11b254ed7
--- /dev/null
+++ b/ur_description/urdf/ur10.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur10_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR10
+    which defines the default values for the various "parameters files"
+    parameters for a UR10.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur10_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur10_macro.xacro"/>
+  <xacro:ur10_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro
new file mode 100644
index 000000000..837b08d7a
--- /dev/null
+++ b/ur_description/urdf/ur10e.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur10e_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR10e
+    which defines the default values for the various "parameters files"
+    parameters for a UR10e.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur10e_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur10e_macro.xacro"/>
+  <xacro:ur10e_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur16e.xacro b/ur_description/urdf/ur16e.xacro
new file mode 100644
index 000000000..a79d11a43
--- /dev/null
+++ b/ur_description/urdf/ur16e.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur16e_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR16e
+    which defines the default values for the various "parameters files"
+    parameters for a UR16e.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur16e_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur16e_macro.xacro"/>
+  <xacro:ur16e_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur3.xacro b/ur_description/urdf/ur3.xacro
new file mode 100644
index 000000000..1d025ab70
--- /dev/null
+++ b/ur_description/urdf/ur3.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur3_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR3
+    which defines the default values for the various "parameters files"
+    parameters for a UR3.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur3_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur3_macro.xacro"/>
+  <xacro:ur3_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur3e.xacro b/ur_description/urdf/ur3e.xacro
new file mode 100644
index 000000000..f4f8cae17
--- /dev/null
+++ b/ur_description/urdf/ur3e.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur3e_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR3e
+    which defines the default values for the various "parameters files"
+    parameters for a UR3e.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur3e_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur3e_macro.xacro"/>
+  <xacro:ur3e_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur5.xacro b/ur_description/urdf/ur5.xacro
new file mode 100644
index 000000000..ce69dc6ab
--- /dev/null
+++ b/ur_description/urdf/ur5.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR5e
+    which defines the default values for the various "parameters files"
+    parameters for a UR5e.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro.xacro"/>
+  <xacro:ur5_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur5e.xacro b/ur_description/urdf/ur5e.xacro
new file mode 100644
index 000000000..f71216e68
--- /dev/null
+++ b/ur_description/urdf/ur5e.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5e_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR5e
+    which defines the default values for the various "parameters files"
+    parameters for a UR5e.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur5e_macro.xacro"/>
+  <xacro:ur5e_robot prefix="" />
+</robot>

From dbc9e151643ce74a79036231dc13385c1f86cbb2 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Fri, 22 Jan 2021 17:32:51 +0100
Subject: [PATCH 3/3] ur_gazebo: Update path ur ur_macro.xacro

This was changed in e4eb54718edc6ff414d3c046f2589b798b15f9b2
---
 ur_gazebo/urdf/ur_macro.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index 1f049c692..5100baccd 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -56,7 +56,7 @@
       NOTE: this imports the '_macro.xacro' from ur_description, as that contains
       the definitions for the real robot.
     -->
-    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
 
 
     <!-- Instantiate model for the REAL robot. -->