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Flatten macro call structure #52

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Flatten macro call structure #52

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9 changes: 7 additions & 2 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
<xacro:macro name="ur_ros2_control" params="
name
prefix
Expand All @@ -18,7 +18,12 @@
reverse_port:=50001
script_sender_port:=50002
reverse_ip:=0.0.0.0
script_command_port:=50004">
script_command_port:=50004
transmission_hw_interface:=hardware_interface/PositionJointInterface
">

<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->

<ros2_control name="${name}" type="system">
<hardware>
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35 changes: 25 additions & 10 deletions urdf/ur.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,10 @@
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
<!-- robot name parameter -->
<xacro:arg name="name" default="ur"/>
<!-- import main macro -->
<!-- include arm -->
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
<!-- include ros2 control -->
<xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />

<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e -->
<!-- the default value should raise an error in case this was called without defining the type -->
Expand Down Expand Up @@ -50,23 +52,36 @@

<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<xacro:property name="sim_gazebo" default="$(arg sim_gazebo)"/>
<xacro:property name="sim_ignition" default="$(arg sim_ignition)"/>

<!-- create link fixed to the "world" -->
<link name="world" />

<!-- arm -->
<xacro:ur_robot
name="$(arg name)"
prefix="$(arg prefix)"
parent="world"
<!-- load model data -->
<xacro:read_model_data
joint_limits_parameters_file="$(arg joint_limit_params)"
kinematics_parameters_file="$(arg kinematics_params)"
physical_parameters_file="$(arg physical_params)"
visual_parameters_file="$(arg visual_params)"
transmission_hw_interface="$(arg transmission_hw_interface)"
force_abs_paths="${sim_gazebo or sim_ignition}"/>

<!-- arm instance -->
<xacro:ur_robot
name="$(arg name)"
prefix="$(arg prefix)"
parent="world"
safety_limits="$(arg safety_limits)"
safety_pos_margin="$(arg safety_pos_margin)"
safety_k_position="$(arg safety_k_position)"
>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot>


<!-- ros2 control instance -->
<xacro:ur_ros2_control
name="$(arg name)" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
Expand All @@ -88,9 +103,9 @@
input_recipe_filename="$(arg input_recipe_filename)"
reverse_ip="$(arg reverse_ip)"
script_command_port="$(arg script_command_port)"
>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot>
tf_prefix=""
hash_kinematics="${kinematics_hash}"
/>

<xacro:if value="$(arg sim_gazebo)">
<!-- Gazebo plugins -->
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48 changes: 0 additions & 48 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -58,11 +58,6 @@
prefix
parent
*origin
joint_limits_parameters_file
kinematics_parameters_file
physical_parameters_file
visual_parameters_file
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false
safety_pos_margin:=0.15
safety_k_position:=20
Expand Down Expand Up @@ -90,51 +85,8 @@
reverse_ip:=0.0.0.0
script_command_port:=50004">

<!-- Load configuration data from the provided .yaml files -->
<xacro:read_model_data
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}"
force_abs_paths="${sim_gazebo or sim_ignition}"/>


<!-- ros2 control include -->
<xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
<!-- ros2 control instance -->
<xacro:ur_ros2_control
name="${name}" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"
output_recipe_filename="${output_recipe_filename}"
input_recipe_filename="${input_recipe_filename}"
tf_prefix=""
hash_kinematics="${kinematics_hash}"
robot_ip="${robot_ip}"
use_tool_communication="${use_tool_communication}"
tool_voltage="${tool_voltage}"
tool_parity="${tool_parity}"
tool_baud_rate="${tool_baud_rate}"
tool_stop_bits="${tool_stop_bits}"
tool_rx_idle_chars="${tool_rx_idle_chars}"
tool_tx_idle_chars="${tool_tx_idle_chars}"
tool_device_name="${tool_device_name}"
tool_tcp_port="${tool_tcp_port}"
reverse_port="${reverse_port}"
script_sender_port="${script_sender_port}"
reverse_ip="${reverse_ip}"
script_command_port="${script_command_port}"
/>

<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
<!-- Placeholder for ros2_control transmission which don't yet exist -->

<!-- links - main serial chain -->
<link name="${prefix}base_link"/>
<link name="${prefix}base_link_inertia">
Expand Down