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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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c7408b3
Deleted model specific xacro and launch files
BobbyCephy Nov 20, 2022
fc48989
Moved and renamed xacro, launch, rviz and yaml files
BobbyCephy Nov 20, 2022
67203b1
Simplification of generic xacro and launch files
BobbyCephy Nov 20, 2022
1b3a9c7
Renamed base_link_inertia to base_inertia_link
BobbyCephy Nov 19, 2022
89a1966
Renamed elbow_joint to elbow
BobbyCephy Nov 19, 2022
25b5004
Renamed upperarm to upper_arm
BobbyCephy Nov 19, 2022
ffc1090
Offsets of meshes added in visual_parameters.yaml
BobbyCephy Nov 19, 2022
b0a7fb0
Fractions and squares cylinder_inertial macro
BobbyCephy Nov 19, 2022
a83519c
Abbreviation of transmission_hw_interface
BobbyCephy Nov 20, 2022
532ac05
Gazebo arguments added in control.launch
BobbyCephy Nov 20, 2022
38cc142
Gazebo reference link macro
BobbyCephy Nov 20, 2022
2cf5434
Link macro using configuration data
BobbyCephy Nov 20, 2022
9cc4fc3
Fixed joint macro
BobbyCephy Nov 20, 2022
68f9d3d
Revolute joint macro using configuration data
BobbyCephy Nov 20, 2022
95048b7
Cleared unused properties in common.xacro
BobbyCephy Nov 20, 2022
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -92,7 +92,7 @@ Don't forget to source the correct setup shell files and use a new terminal for

To bring up the simulated robot in Gazebo, run:

```roslaunch ur_gazebo ur5_bringup.launch```
```roslaunch ur_gazebo bringup.launch model:=ur5```


___MoveIt! with a simulated robot___
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4 changes: 2 additions & 2 deletions ur10_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur10.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur10
SRDF:
relative_path: config/ur10.srdf
CONFIG:
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6 changes: 3 additions & 3 deletions ur10_moveit_config/config/ur10.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur10_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
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2 changes: 1 addition & 1 deletion ur10_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur10.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur10"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur10_moveit_config)/config/ur10.srdf" />
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4 changes: 2 additions & 2 deletions ur10e_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur10e.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur10e
SRDF:
relative_path: config/ur10e.srdf
CONFIG:
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6 changes: 3 additions & 3 deletions ur10e_moveit_config/config/ur10e.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur10e_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
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2 changes: 1 addition & 1 deletion ur10e_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur10e.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur10e"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur10e_moveit_config)/config/ur10e.srdf" />
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4 changes: 2 additions & 2 deletions ur16e_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur16e.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur16e
SRDF:
relative_path: config/ur16e.srdf
CONFIG:
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6 changes: 3 additions & 3 deletions ur16e_moveit_config/config/ur16e.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur16e_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
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2 changes: 1 addition & 1 deletion ur16e_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur16e.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur16e"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur16e_moveit_config)/config/ur16e.srdf" />
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4 changes: 2 additions & 2 deletions ur3_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur3.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur3
SRDF:
relative_path: config/ur3.srdf
CONFIG:
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6 changes: 3 additions & 3 deletions ur3_moveit_config/config/ur3.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur3_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
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2 changes: 1 addition & 1 deletion ur3_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur3.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur3"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur3_moveit_config)/config/ur3.srdf" />
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4 changes: 2 additions & 2 deletions ur3e_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur3e.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur3e
SRDF:
relative_path: config/ur3e.srdf
CONFIG:
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6 changes: 3 additions & 3 deletions ur3e_moveit_config/config/ur3e.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur3e_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down
2 changes: 1 addition & 1 deletion ur3e_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur3e.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur3e"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur3e_moveit_config)/config/ur3e.srdf" />
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4 changes: 2 additions & 2 deletions ur5_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur5.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur5
SRDF:
relative_path: config/ur5.srdf
CONFIG:
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6 changes: 3 additions & 3 deletions ur5_moveit_config/config/ur5.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur5_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down
2 changes: 1 addition & 1 deletion ur5_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur5.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur3"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur5_moveit_config)/config/ur5.srdf" />
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4 changes: 2 additions & 2 deletions ur5e_moveit_config/.setup_assistant
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@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
relative_path: urdf/ur5e.xacro
xacro_args: ""
relative_path: urdf/ur.xacro
xacro_args: model:=ur5e
SRDF:
relative_path: config/ur5e.srdf
CONFIG:
Expand Down
6 changes: 3 additions & 3 deletions ur5e_moveit_config/config/ur5e.srdf
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Expand Up @@ -32,9 +32,9 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_inertia_link" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="base_inertia_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
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4 changes: 2 additions & 2 deletions ur5e_moveit_config/launch/moveit.rviz
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Expand Up @@ -80,7 +80,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -176,7 +176,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
base_inertia_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down
2 changes: 1 addition & 1 deletion ur5e_moveit_config/launch/planning_context.launch
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Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur5e.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur5e"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find ur5e_moveit_config)/config/ur5e.srdf" />
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14 changes: 4 additions & 10 deletions ur_description/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,20 +1,14 @@
cmake_minimum_required(VERSION 3.0.2)
project(ur_description)

find_package(catkin REQUIRED)

catkin_package()

if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml)
roslaunch_add_file_check(tests/roslaunch_test_ur10.xml)
roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml)
roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml)
roslaunch_add_file_check(tests/roslaunch_test_ur3.xml)
roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml)
roslaunch_add_file_check(tests/roslaunch_test_ur5.xml)
foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e)
roslaunch_add_file_check(launch/test.launch model=${model})
endforeach()
endif()

install(DIRECTORY cfg config launch meshes urdf
install(DIRECTORY config launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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