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.
gavanderhoorn · Jul 2, 2020 · 4187b12 · 4187b12
1 parent 8b50e43
commit 4187b12
Show file tree

Hide file tree

Showing 14 changed files with 483 additions and 0 deletions.
diff --git a/ur_description/urdf/inc/ur10_macro.xacro 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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="$(find ur_description)/urdf/inc/ur10_macro.xacro"/>
+  <xacro:ur10_robot prefix="" />
+</robot>
diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur10e_robot">
+  <!--
+    This is a convenience top-level xacro which loads the macro for the UR10e
+    which defines the default values for the various "parameters files"
+    parameters for a UR10e.
+
+    This file is only useful when loading a stand-alone, completely isolated
+    robot with only default values for all parameters such as the kinematics,
+    visual and physical parameters and joint limits.
+
+    This file is not intended to be integrated into a larger scene or other
+    composite xacro.
+
+    Instead, xacro:include 'inc/ur10e_macro.xacro' and override the defaults
+    for the arguments to that macro.
+
+    Refer to 'inc/ur_macro.xacro' for more information.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur10e_macro.xacro"/>
+  <xacro:ur10e_robot prefix="" />
+</robot>