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Utilize ur_e configs for urX_e_moveit_config #4

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Utilize ur_e configs for urX_e_moveit_config #4

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4 changes: 2 additions & 2 deletions ur10_e_moveit_config/launch/planning_context.launch
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Expand Up @@ -8,8 +8,8 @@

<!-- Load universal robot description format (URDF) -->
<group if="$(arg load_robot_description)">
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_joint_limited_robot.urdf.xacro'" />
</group>

<!-- The semantic description that corresponds to the URDF -->
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2 changes: 1 addition & 1 deletion ur10_e_moveit_config/package.xml
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Expand Up @@ -25,7 +25,7 @@
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<depend>ur_description</depend>
<depend>ur_e_description</depend>

<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
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4 changes: 2 additions & 2 deletions ur3_e_moveit_config/launch/planning_context.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@

<!-- Load universal robot description format (URDF) -->
<group if="$(arg load_robot_description)">
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_joint_limited_robot.urdf.xacro'" />
</group>

<!-- The semantic description that corresponds to the URDF -->
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2 changes: 1 addition & 1 deletion ur3_e_moveit_config/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<depend>ur_description</depend>
<depend>ur_e_description</depend>

<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
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4 changes: 2 additions & 2 deletions ur5_e_moveit_config/launch/planning_context.launch
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@

<!-- Load universal robot description format (URDF) -->
<group if="$(arg load_robot_description)">
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_joint_limited_robot.urdf.xacro'" />
</group>

<!-- The semantic description that corresponds to the URDF -->
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2 changes: 1 addition & 1 deletion ur5_e_moveit_config/package.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<depend>ur_description</depend>
<depend>ur_e_description</depend>

<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
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