Calibration devel staging #10
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* moved ur_e_description meshes files to ur_description
* one for each models
* removed each model specific xacro * use of yaml files * pass yaml files as parameters * common ur_robo macro * remved ur_gazebo specific parts
* use of yaml files parameters * added e_series * create a common launch file to avoir duplicated
* added e-series
* added e-series
* default in melodic
Urdf with args and yaml configuration
the kinematics parameters can be retrieved from a calibration mechanism to precisely represent the robot's kinematics.
This model is only correct in the kinematics structure. Meshes and dynamics parameters have to be corrected.
Add Ur16e support
Links first, then joints.
Align them with other ROS-I support packages.
avoid deprecation warnings.
Use new name.
Align with other models. For ros-industrial#265.
Align them with other ROS-Industrial support packages.
Prevent potential clashes with symbols outside of that scope.
So include that in the name.
For some reason this was not yet documented.
And we've broken Kinetic-compatibility quite a few commits ago.
So explain this in the arg's documentation.
Main improvements: - follow ROS-I naming and package layout conventions - clean up xacros (naming, whitespace, etc) - treat (the virtual robot in) Gazebo as much as possible as just another UR variant (so we get to reuse workflow, settings and `.launch` files as much as possible) - improve comments in `.xacro` files - clean up "public API" of `ur_gazebo` (ie: `.launch` and `_macro.xacro` files )
Use rosparam's and xacro's support for these special constructors to convert to radians on-the-fly.
…osparam_joint_limits description: spec limits in degrees.
There are no direct dependants any more in this repository.
So move to include directory.
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.
This commit makes the moveit_config work with the description from melodic-devel-staging.
This was referenced May 20, 2021
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Merge in current upstream state + my MoveIt! suggestion so we can start actually using the upstream description.
When this is being merged, UniversalRobots/Universal_Robots_ROS_Driver#97 has to be merged, as well.