Merge pull request #562 from fmauch/convenience_macros

Add convenience macros for description files
ros-industrial · Sep 28, 2021 · 81a542b · 81a542b
2 parents d111eb0 + dbc9e15
commit 81a542b
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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/ur_macro.xacro → ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro → ur_description/urdf/inc/ur_macro.xacro
diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur">
 
    <!-- import main macro -->
-   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+   <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
 
    <!-- parameters -->
    <xacro:arg name="joint_limit_params" default=""/>

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>