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ur_description and ur_gazebo are improved and simplified #624

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ur_description and ur_gazebo are improved and simplified #624

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Commits on Nov 20, 2022

  1. Deleted model specific xacro and launch files 

    Will be replaced by generic ones
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  2. Moved and renamed xacro, launch, rviz and yaml files

    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  3. Simplification of generic xacro and launch files 

    Model specific xacro and launch files replaced by generic ones.
Default arguments and parameters only defined once in lowest level files by replacing empty strings.
Omit properties same as default.
Still all properties can be overridden in upper level files.
Less redefining of arguments and parameters by pass_all_args in launch and using upper level parameters in xacro files.
Paths, file names, names, comments and format adjusted.
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  4. Renamed base_link_inertia to base_inertia_link 

    Consistent link naming desirable for link and joint macros.
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  5. Renamed elbow_joint to elbow 

    Consistent naming in joint_limits.yaml
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  6. Renamed upperarm to upper_arm 

    Consistent naming in physical_parameters.yaml and of mesh files
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  7. Offsets of meshes added in visual_parameters.yaml 

    Addressing in macro.xacro:
    <link name="${prefix}wrist_1_link">
      <visual>
        <!-- TODO: Move this to a parameter -->
        <origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/>
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  8. Fractions and squares cylinder_inertial macro

    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  9. Abbreviation of transmission_hw_interface 

    transmission_hw_interface only needs to contain
e, v or p in lower or upper case to be replaced by
hardware_interface/EffortJointInterface,
hardware_interface/PositionJointInterface or
hardware_interface/VelocityJointInterface.
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  10. Gazebo arguments added in control.launch 

    initial_joint_positions, world_pose and unpause at spawning argument added to control.launch, as by moveit_setup_assistant.
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  11. Gazebo reference link macro 

    Comments adjusted
    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  12. Link macro using configuration data

    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  13. Fixed joint macro

    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  14. Revolute joint macro using configuration data

    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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  15. Cleared unused properties in common.xacro

    @BobbyCephy
    BobbyCephy committed Nov 20, 2022
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