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ur_description: Use the per-model xacro files for correct robot name #588

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Sep 29, 2021
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ur_description: Use the per-model xacro files for correct robot name #588

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4 changes: 3 additions & 1 deletion ur_description/launch/load_ur.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" />

<!-- Load the top-level (ie: stand-alone and complete) xacro for the UR
variant defined by the set of yaml parameter files (so to load a UR5
onto the ROS parameter server, provide paths to the .yaml files which
Expand All @@ -28,7 +30,7 @@
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/ur.xacro'
<param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/$(arg robot_model).xacro'
joint_limit_params:=$(arg joint_limit_params)
kinematics_params:=$(arg kinematics_params)
physical_params:=$(arg physical_params)
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2 changes: 2 additions & 0 deletions ur_description/launch/load_ur10.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur10" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>
2 changes: 2 additions & 0 deletions ur_description/launch/load_ur10e.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur10e" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>
2 changes: 2 additions & 0 deletions ur_description/launch/load_ur16e.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur16e" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>
2 changes: 2 additions & 0 deletions ur_description/launch/load_ur3.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur3" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>
2 changes: 2 additions & 0 deletions ur_description/launch/load_ur3e.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur3e" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>
2 changes: 2 additions & 0 deletions ur_description/launch/load_ur5.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur5" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>
2 changes: 2 additions & 0 deletions ur_description/launch/load_ur5e.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

<arg name="robot_model" value="ur5e" />

<!-- use common launch file and pass all arguments to it -->
<include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
</launch>