From 92d1dd7badc2689d47c985340816edec77161ff2 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 10:54:18 +0200
Subject: [PATCH 01/38] gazebo: follow description xacro macro naming.

Rename file to reflect name of macro or top-level entity.

Include 'gazebo' reference as these files host content specific to Gazebo.
---
 ur_gazebo/urdf/{ur_robot.urdf.xacro => ur.xacro}               | 0
 ur_gazebo/urdf/{ur_robot_gazebo.macro.xacro => ur_macro.xacro} | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename ur_gazebo/urdf/{ur_robot.urdf.xacro => ur.xacro} (100%)
 rename ur_gazebo/urdf/{ur_robot_gazebo.macro.xacro => ur_macro.xacro} (100%)

diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur.xacro
similarity index 100%
rename from ur_gazebo/urdf/ur_robot.urdf.xacro
rename to ur_gazebo/urdf/ur.xacro
diff --git a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
similarity index 100%
rename from ur_gazebo/urdf/ur_robot_gazebo.macro.xacro
rename to ur_gazebo/urdf/ur_macro.xacro

From 3157374b1f80b7b806c3d1eee63af016426a69f0 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 11:07:59 +0200
Subject: [PATCH 02/38] gazebo: use new filenames.

---
 ur_gazebo/launch/ur_common.launch | 2 +-
 ur_gazebo/urdf/ur.xacro           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch
index 6cd1fb1f2..b651ee7a5 100644
--- a/ur_gazebo/launch/ur_common.launch
+++ b/ur_gazebo/launch/ur_common.launch
@@ -25,7 +25,7 @@
   </include>
 
   <!-- set robot urdf to param server -->
-    <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur_robot.urdf.xacro' --inorder 
+    <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder 
       joints_limits_params:=$(arg joints_limits_params) 
       kinematics_params:=$(arg kinematics_params) 
       physical_params:=$(arg physical_params) 
diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index 5ad8aad3c..18c6a74b0 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -13,7 +13,7 @@
    <xacro:arg name="safety_k_position" default="20"/>
 
    <!-- common stuff -->
-   <xacro:include filename="$(find ur_gazebo)/urdf/ur_robot_gazebo.macro.xacro"/>
+   <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
    <xacro:include filename="$(find ur_gazebo)/urdf/common.gazebo.xacro"/>
 
    <!-- arm -->

From 8222d6b039013250734c464a59affb1649760288 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 10:57:21 +0200
Subject: [PATCH 03/38] gazebo: merge relevant content from common.gazebo.xacro
 into macro.

Only the ros_control elements are retained.

The UR doesn't have a battery, so no need to include that plugin.
---
 ur_gazebo/urdf/common.gazebo.xacro | 26 --------------------------
 ur_gazebo/urdf/ur.xacro            |  1 -
 ur_gazebo/urdf/ur_macro.xacro      |  7 ++++++-
 3 files changed, 6 insertions(+), 28 deletions(-)
 delete mode 100644 ur_gazebo/urdf/common.gazebo.xacro

diff --git a/ur_gazebo/urdf/common.gazebo.xacro b/ur_gazebo/urdf/common.gazebo.xacro
deleted file mode 100644
index e92df3fd0..000000000
--- a/ur_gazebo/urdf/common.gazebo.xacro
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-
-  <gazebo>
-    <plugin name="ros_control" filename="libgazebo_ros_control.so">
-      <!--robotNamespace>/</robotNamespace-->
-      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
-    </plugin>
-
-<!--
-    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>1.0</updateRate>
-      <timeout>5</timeout>
-      <powerStateTopic>power_state</powerStateTopic>
-      <powerStateRate>10.0</powerStateRate>
-      <fullChargeCapacity>87.78</fullChargeCapacity>     
-      <dischargeRate>-474</dischargeRate>
-      <chargeRate>525</chargeRate>
-      <dischargeVoltage>15.52</dischargeVoltage>
-      <chargeVoltage>16.41</chargeVoltage>
-    </plugin>
--->
-  </gazebo>
-
-</robot>
\ No newline at end of file
diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index 18c6a74b0..e00de2987 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -14,7 +14,6 @@
 
    <!-- common stuff -->
    <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
-   <xacro:include filename="$(find ur_gazebo)/urdf/common.gazebo.xacro"/>
 
    <!-- arm -->
    <xacro:ur_gazebo_robot prefix="" joint_limits_parameters_file="$(arg joint_limit_params)" 
diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index 7b851b1f4..049ce421e 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -41,6 +41,11 @@
     <gazebo reference="${prefix}ee_link">
       <selfCollide>true</selfCollide>
     </gazebo>
-
+    <gazebo>
+      <plugin name="ros_control" filename="libgazebo_ros_control.so">
+        <!--robotNamespace>/</robotNamespace-->
+        <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+      </plugin>
+    </gazebo>
   </xacro:macro>
 </robot>

From 3147a01ea095fddd42e35fd4545ae272580c0a9d Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 11:12:24 +0200
Subject: [PATCH 04/38] gazebo: use new robot and macro name.

Align with filenames and other ROS-Industrial Gazebo support packages.
---
 ur_gazebo/urdf/ur.xacro       | 5 ++---
 ur_gazebo/urdf/ur_macro.xacro | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index e00de2987..77e8b6e82 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro"
-       name="ur" >
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robot_gazebo">
 
    <!-- common stuff -->
    <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
@@ -16,7 +15,7 @@
    <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
 
    <!-- arm -->
-   <xacro:ur_gazebo_robot prefix="" joint_limits_parameters_file="$(arg joint_limit_params)" 
+   <xacro:ur_robot_gazebo prefix="" joint_limits_parameters_file="$(arg joint_limit_params)" 
                              kinematics_parameters_file="$(arg kinematics_params)" 
                              physical_parameters_file="$(arg physical_params)" 
                              visual_parameters_file="$(arg visual_params)"
diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index 049ce421e..d5cb78672 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -7,7 +7,7 @@
 
  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
- <xacro:macro name="ur_gazebo_robot" params="prefix joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file 
+ <xacro:macro name="ur_robot_gazebo" params="prefix joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file 
                   transmission_hw_interface:=hardware_interface/PositionJointInterface
                   safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20">
 

From a74b7ca8428765414a49d1b9a95aa0f71848a3a5 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 11:39:08 +0200
Subject: [PATCH 05/38] gazebo: formatting and comments of xacros.

---
 ur_gazebo/urdf/ur.xacro       | 69 ++++++++++++++++++++++++++---------
 ur_gazebo/urdf/ur_macro.xacro | 40 ++++++++++++++------
 2 files changed, 80 insertions(+), 29 deletions(-)

diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index 77e8b6e82..cb5deb8e9 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -1,34 +1,67 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robot_gazebo">
+   <!--
+     This is a top-level xacro instantiating the Gazebo-specific version of the
+     'ur_robot' macro (ie: 'ur_robot_gazebo') and passing it values for all its
+     required arguments.
 
-   <!-- common stuff -->
+     This file should be considered the Gazebo-specific variant of the file
+     with the same name in the ur_description package. It accepts the same
+     arguments, but instead of configuring everything for a real robot, will
+     generate a Gazebo-compatible URDF with a ros_control hardware_interface
+     attached to it.
+
+     Only use this top-level xacro if you plan on spawning the robot in Gazebo
+     'by itself', without any gripper or any other geometry attached.
+
+     If you need to attach an end-effector, camera or need to integrate the
+     robot into a larger workcell and want to spawn that as a single entity in
+     Gazebo, DO NOT EDIT THIS FILE.
+
+     Instead: create a new top-level xacro, give it a proper name, include the
+     required '.xacro' files, instantiate the models (ie: call the macros) and
+     connect everything by adding the appropriate joints.
+   -->
+
+   <!-- Import main macro.
+
+        Note: this imports the Gazebo-wrapper main macro, NOT the regular
+        xacro macro (which is hosted by ur_description).
+   -->
+   <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
+
+   <!-- parameters -->
    <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
    <xacro:arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
    <xacro:arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
    <xacro:arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
+   <!-- legal values:
+         - hardware_interface/PositionJointInterface
+         - hardware_interface/VelocityJointInterface
+         - hardware_interface/EffortJointInterface
+   -->
    <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
    <xacro:arg name="safety_limits" default="false"/>
    <xacro:arg name="safety_pos_margin" default="0.15"/>
    <xacro:arg name="safety_k_position" default="20"/>
 
-   <!-- common stuff -->
-   <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
+   <!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
+   <xacro:ur_robot_gazebo
+     prefix=""
+     joint_limits_parameters_file="$(arg joint_limit_params)"
+     kinematics_parameters_file="$(arg kinematics_params)"
+     physical_parameters_file="$(arg physical_params)"
+     visual_parameters_file="$(arg visual_params)"
+     transmission_hw_interface="$(arg transmission_hw_interface)"
+     safety_limits="$(arg safety_limits)"
+     safety_pos_margin="$(arg safety_pos_margin)"
+     safety_k_position="$(arg safety_k_position)"/>
 
-   <!-- arm -->
-   <xacro:ur_robot_gazebo prefix="" joint_limits_parameters_file="$(arg joint_limit_params)" 
-                             kinematics_parameters_file="$(arg kinematics_params)" 
-                             physical_parameters_file="$(arg physical_params)" 
-                             visual_parameters_file="$(arg visual_params)"
-                             transmission_hw_interface="$(arg transmission_hw_interface)"
-                             safety_limits="$(arg safety_limits)"
-                             safety_pos_margin="$(arg safety_pos_margin)"
-                             safety_k_position="$(arg safety_k_position)"/>
-
-   <link name="world" />
+   <!-- Attach the Gazebo model to Gazebo's world frame -->
+   <link name="world"/>
    <joint name="world_joint" type="fixed">
-      <parent link="world" />
-      <child link = "base_link" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <parent link="world"/>
+      <child link="base_link"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
    </joint>
-
 </robot>
diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index d5cb78672..e89d0a78a 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
 <!--
@@ -5,20 +6,37 @@
   Contributor: Felix Messmer, Kelsey Hawkins, Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
 -->
 
+ <!-- Import the xacro macro for the REAL robot (which we'll augment with
+      Gazebo-specific elements in the wrapper macro below).
+
+      Note: this imports the '_macro.xacro' from ur_description, as that
+      contains the definitions for the real robot.
+ -->
  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
- <xacro:macro name="ur_robot_gazebo" params="prefix joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file 
-                  transmission_hw_interface:=hardware_interface/PositionJointInterface
-                  safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20">
+ <xacro:macro name="ur_robot_gazebo" params="
+  prefix
+  joint_limits_parameters_file
+  kinematics_parameters_file
+  physical_parameters_file
+  visual_parameters_file
+  transmission_hw_interface:=hardware_interface/PositionJointInterface
+  safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
+ >
+    <!-- Instantiate model for the REAL robot.
 
-    <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="${safety_k_position}"/>
+         Add additional elements needed by Gazebo as well.
+    -->
+    <xacro:ur_robot
+      prefix="${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}"/>
 
     <gazebo reference="${prefix}shoulder_link">
       <selfCollide>true</selfCollide>

From a0477c23711da6688badb5fdadad97dcc3d727a9 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 12:38:39 +0200
Subject: [PATCH 06/38] gazebo: 2-spaces per indent level.

---
 ur_gazebo/CMakeLists.txt                      |   3 +-
 ur_gazebo/controller/arm_controller_ur10.yaml |  43 ++++---
 ur_gazebo/controller/arm_controller_ur16.yaml |  43 ++++---
 ur_gazebo/controller/arm_controller_ur3.yaml  |  43 ++++---
 ur_gazebo/controller/arm_controller_ur5.yaml  |  43 ++++---
 .../controller/joint_state_controller.yaml    |   4 +-
 ur_gazebo/launch/controller_utils.launch      |   4 +-
 ur_gazebo/launch/ur_common.launch             |  20 ++--
 ur_gazebo/urdf/ur.xacro                       | 111 +++++++++---------
 ur_gazebo/urdf/ur_macro.xacro                 |  38 +++---
 10 files changed, 174 insertions(+), 178 deletions(-)

diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt
index d390277f3..b38df3dc9 100644
--- a/ur_gazebo/CMakeLists.txt
+++ b/ur_gazebo/CMakeLists.txt
@@ -11,4 +11,5 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(tests/roslaunch_test.xml)
 endif()
 
-install(DIRECTORY launch controller urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch controller urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index fb7b3d4fe..de8f88d4a 100644
--- a/ur_gazebo/controller/arm_controller_ur10.yaml
+++ b/ur_gazebo/controller/arm_controller_ur10.yaml
@@ -1,31 +1,30 @@
 arm_controller:
   type: position_controllers/JointTrajectoryController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
   constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate:  25
+  state_publish_rate: 25
   action_monitor_rate: 10
 joint_group_position_controller:
   type: position_controllers/JointGroupPositionController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
diff --git a/ur_gazebo/controller/arm_controller_ur16.yaml b/ur_gazebo/controller/arm_controller_ur16.yaml
index fb7b3d4fe..de8f88d4a 100644
--- a/ur_gazebo/controller/arm_controller_ur16.yaml
+++ b/ur_gazebo/controller/arm_controller_ur16.yaml
@@ -1,31 +1,30 @@
 arm_controller:
   type: position_controllers/JointTrajectoryController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
   constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate:  25
+  state_publish_rate: 25
   action_monitor_rate: 10
 joint_group_position_controller:
   type: position_controllers/JointGroupPositionController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml
index fb7b3d4fe..de8f88d4a 100644
--- a/ur_gazebo/controller/arm_controller_ur3.yaml
+++ b/ur_gazebo/controller/arm_controller_ur3.yaml
@@ -1,31 +1,30 @@
 arm_controller:
   type: position_controllers/JointTrajectoryController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
   constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate:  25
+  state_publish_rate: 25
   action_monitor_rate: 10
 joint_group_position_controller:
   type: position_controllers/JointGroupPositionController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
index fb7b3d4fe..de8f88d4a 100644
--- a/ur_gazebo/controller/arm_controller_ur5.yaml
+++ b/ur_gazebo/controller/arm_controller_ur5.yaml
@@ -1,31 +1,30 @@
 arm_controller:
   type: position_controllers/JointTrajectoryController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
   constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate:  25
+  state_publish_rate: 25
   action_monitor_rate: 10
 joint_group_position_controller:
   type: position_controllers/JointGroupPositionController
   joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
diff --git a/ur_gazebo/controller/joint_state_controller.yaml b/ur_gazebo/controller/joint_state_controller.yaml
index 0cd5bb707..dfd2fcb37 100644
--- a/ur_gazebo/controller/joint_state_controller.yaml
+++ b/ur_gazebo/controller/joint_state_controller.yaml
@@ -1,3 +1,3 @@
 joint_state_controller:
-    type: joint_state_controller/JointStateController
-    publish_rate: 50  
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch
index f4cd9bab1..5371fa5ce 100644
--- a/ur_gazebo/launch/controller_utils.launch
+++ b/ur_gazebo/launch/controller_utils.launch
@@ -10,9 +10,9 @@
   <!-- Fake Calibration -->
   <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
         args="pub /calibrated std_msgs/Bool true" />
-  
+
   <!-- joint_state_controller -->
   <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
   <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
-  
+
 </launch>
diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch
index b651ee7a5..44c959b8f 100644
--- a/ur_gazebo/launch/ur_common.launch
+++ b/ur_gazebo/launch/ur_common.launch
@@ -25,16 +25,16 @@
   </include>
 
   <!-- set robot urdf to param server -->
-    <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder 
-      joints_limits_params:=$(arg joints_limits_params) 
-      kinematics_params:=$(arg kinematics_params) 
-      physical_params:=$(arg physical_params) 
-      visual_params:=$(arg visual_params) 
-      transmission_hw_interface:=$(arg transmission_hw_interface)
-      safety_limits:=$(arg safety_limits)
-      safety_pos_margin:=$(arg safety_pos_margin)
-      safety_k_position:=$(arg safety_k_position)"
-    />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder 
+    joints_limits_params:=$(arg joints_limits_params) 
+    kinematics_params:=$(arg kinematics_params) 
+    physical_params:=$(arg physical_params) 
+    visual_params:=$(arg visual_params) 
+    transmission_hw_interface:=$(arg transmission_hw_interface)
+    safety_limits:=$(arg safety_limits)
+    safety_pos_margin:=$(arg safety_pos_margin)
+    safety_k_position:=$(arg safety_k_position)"
+  />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index cb5deb8e9..0eceaec11 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -1,67 +1,66 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robot_gazebo">
-   <!--
-     This is a top-level xacro instantiating the Gazebo-specific version of the
-     'ur_robot' macro (ie: 'ur_robot_gazebo') and passing it values for all its
-     required arguments.
+  <!--
+    This is a top-level xacro instantiating the Gazebo-specific version of the
+    'ur_robot' macro (ie: 'ur_robot_gazebo') and passing it values for all its
+    required arguments.
 
-     This file should be considered the Gazebo-specific variant of the file
-     with the same name in the ur_description package. It accepts the same
-     arguments, but instead of configuring everything for a real robot, will
-     generate a Gazebo-compatible URDF with a ros_control hardware_interface
-     attached to it.
+    This file should be considered the Gazebo-specific variant of the file
+    with the same name in the ur_description package. It accepts the same
+    arguments, but instead of configuring everything for a real robot, will
+    generate a Gazebo-compatible URDF with a ros_control hardware_interface
+    attached to it.
 
-     Only use this top-level xacro if you plan on spawning the robot in Gazebo
-     'by itself', without any gripper or any other geometry attached.
+    Only use this top-level xacro if you plan on spawning the robot in Gazebo
+    'by itself', without any gripper or any other geometry attached.
 
-     If you need to attach an end-effector, camera or need to integrate the
-     robot into a larger workcell and want to spawn that as a single entity in
-     Gazebo, DO NOT EDIT THIS FILE.
+    If you need to attach an end-effector, camera or need to integrate the
+    robot into a larger workcell and want to spawn that as a single entity in
+    Gazebo, DO NOT EDIT THIS FILE.
 
-     Instead: create a new top-level xacro, give it a proper name, include the
-     required '.xacro' files, instantiate the models (ie: call the macros) and
-     connect everything by adding the appropriate joints.
-   -->
+    Instead: create a new top-level xacro, give it a proper name, include the
+    required '.xacro' files, instantiate the models (ie: call the macros) and
+    connect everything by adding the appropriate joints.
+  -->
 
-   <!-- Import main macro.
+  <!-- Import main macro.
+       Note: this imports the Gazebo-wrapper main macro, NOT the regular
+       xacro macro (which is hosted by ur_description).
+  -->
+  <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
 
-        Note: this imports the Gazebo-wrapper main macro, NOT the regular
-        xacro macro (which is hosted by ur_description).
-   -->
-   <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
+  <!--Declare arguments -->
+  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
+  <xacro:arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
+  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
+  <xacro:arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
+  <!-- legal values:
+      - hardware_interface/PositionJointInterface
+      - hardware_interface/VelocityJointInterface
+      - hardware_interface/EffortJointInterface
+  -->
+  <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+  <xacro:arg name="safety_limits" default="false"/>
+  <xacro:arg name="safety_pos_margin" default="0.15"/>
+  <xacro:arg name="safety_k_position" default="20"/>
 
-   <!-- parameters -->
-   <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
-   <xacro:arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
-   <xacro:arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
-   <xacro:arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
-   <!-- legal values:
-         - hardware_interface/PositionJointInterface
-         - hardware_interface/VelocityJointInterface
-         - hardware_interface/EffortJointInterface
-   -->
-   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
-   <xacro:arg name="safety_limits" default="false"/>
-   <xacro:arg name="safety_pos_margin" default="0.15"/>
-   <xacro:arg name="safety_k_position" default="20"/>
+  <!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
+  <xacro:ur_robot_gazebo
+    prefix=""
+    joint_limits_parameters_file="$(arg joint_limit_params)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    physical_parameters_file="$(arg physical_params)"
+    visual_parameters_file="$(arg visual_params)"
+    transmission_hw_interface="$(arg transmission_hw_interface)"
+    safety_limits="$(arg safety_limits)"
+    safety_pos_margin="$(arg safety_pos_margin)"
+    safety_k_position="$(arg safety_k_position)"/>
 
-   <!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
-   <xacro:ur_robot_gazebo
-     prefix=""
-     joint_limits_parameters_file="$(arg joint_limit_params)"
-     kinematics_parameters_file="$(arg kinematics_params)"
-     physical_parameters_file="$(arg physical_params)"
-     visual_parameters_file="$(arg visual_params)"
-     transmission_hw_interface="$(arg transmission_hw_interface)"
-     safety_limits="$(arg safety_limits)"
-     safety_pos_margin="$(arg safety_pos_margin)"
-     safety_k_position="$(arg safety_k_position)"/>
-
-   <!-- Attach the Gazebo model to Gazebo's world frame -->
-   <link name="world"/>
-   <joint name="world_joint" type="fixed">
-      <parent link="world"/>
-      <child link="base_link"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-   </joint>
+  <!-- Attach the Gazebo model to Gazebo's world frame -->
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
 </robot>
diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index e89d0a78a..d1ab948ca 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -1,28 +1,28 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
-<!--
-  Author: Ludovic Delval
-  Contributor: Felix Messmer, Kelsey Hawkins, Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
--->
+  <!--
+    Author: Ludovic Delval
+    Contributor: Felix Messmer, Kelsey Hawkins, Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
+  -->
 
- <!-- Import the xacro macro for the REAL robot (which we'll augment with
-      Gazebo-specific elements in the wrapper macro below).
+  <!-- Import the xacro macro for the REAL robot (which we'll augment with
+       Gazebo-specific elements in the wrapper macro below).
 
-      Note: this imports the '_macro.xacro' from ur_description, as that
-      contains the definitions for the real robot.
- -->
- <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+       Note: this imports the '_macro.xacro' from ur_description, as that
+       contains the definitions for the real robot.
+  -->
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
- <xacro:macro name="ur_robot_gazebo" params="
-  prefix
-  joint_limits_parameters_file
-  kinematics_parameters_file
-  physical_parameters_file
-  visual_parameters_file
-  transmission_hw_interface:=hardware_interface/PositionJointInterface
-  safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
- >
+  <xacro:macro name="ur_robot_gazebo" params="
+   prefix
+   joint_limits_parameters_file
+   kinematics_parameters_file
+   physical_parameters_file
+   visual_parameters_file
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
+  >
     <!-- Instantiate model for the REAL robot.
 
          Add additional elements needed by Gazebo as well.

From e8f4929ad5e6b36ae686ff520546fd754b9b2098 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 12:39:53 +0200
Subject: [PATCH 07/38] gazebo: nothing to calibrate.

This is most likely a relic from the PR2 simulation.
---
 ur_gazebo/launch/controller_utils.launch | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch
index 5371fa5ce..477c6daf9 100644
--- a/ur_gazebo/launch/controller_utils.launch
+++ b/ur_gazebo/launch/controller_utils.launch
@@ -7,10 +7,6 @@
     <param name="tf_prefix" type="string" value="" />
   </node>
 
-  <!-- Fake Calibration -->
-  <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
-        args="pub /calibrated std_msgs/Bool true" />
-
   <!-- joint_state_controller -->
   <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
   <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>

From 907058f7c58cfba5f5eb9f39a96c7ed1b0c64fa6 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 12:43:06 +0200
Subject: [PATCH 08/38] gazebo: controller_utils isn't re-used anywhere else.

So merge contents into 'ur_common.launch' and remove the file.
---
 ur_gazebo/launch/controller_utils.launch | 14 --------------
 ur_gazebo/launch/ur_common.launch        | 10 +++++++++-
 2 files changed, 9 insertions(+), 15 deletions(-)
 delete mode 100644 ur_gazebo/launch/controller_utils.launch

diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch
deleted file mode 100644
index 477c6daf9..000000000
--- a/ur_gazebo/launch/controller_utils.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0" />
-    <param name="tf_prefix" type="string" value="" />
-  </node>
-
-  <!-- joint_state_controller -->
-  <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
-  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
-
-</launch>
diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch
index 44c959b8f..8ab45e79f 100644
--- a/ur_gazebo/launch/ur_common.launch
+++ b/ur_gazebo/launch/ur_common.launch
@@ -39,7 +39,15 @@
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
 
-  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0" />
+    <param name="tf_prefix" type="string" value="" />
+  </node>
+
+  <!-- joint_state_controller -->
+  <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
+  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
 
   <!-- load other controllers -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />

From 3bdad683b943386e02568598df0d90db78b98786 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 13:42:12 +0200
Subject: [PATCH 09/38] gazebo: introduce 'load_*.launch' helpers.

These mimic the files with the same names as in ur_description, but load the Gazebo model instead of the real robot onto the parameter server.
---
 ur_gazebo/launch/load_ur.launch    | 41 ++++++++++++++++++++++++++++++
 ur_gazebo/launch/load_ur10.launch  | 16 ++++++++++++
 ur_gazebo/launch/load_ur10e.launch | 16 ++++++++++++
 ur_gazebo/launch/load_ur16e.launch | 16 ++++++++++++
 ur_gazebo/launch/load_ur3.launch   | 16 ++++++++++++
 ur_gazebo/launch/load_ur3e.launch  | 16 ++++++++++++
 ur_gazebo/launch/load_ur5.launch   | 16 ++++++++++++
 ur_gazebo/launch/load_ur5e.launch  | 16 ++++++++++++
 8 files changed, 153 insertions(+)
 create mode 100644 ur_gazebo/launch/load_ur.launch
 create mode 100644 ur_gazebo/launch/load_ur10.launch
 create mode 100644 ur_gazebo/launch/load_ur10e.launch
 create mode 100644 ur_gazebo/launch/load_ur16e.launch
 create mode 100644 ur_gazebo/launch/load_ur3.launch
 create mode 100644 ur_gazebo/launch/load_ur3e.launch
 create mode 100644 ur_gazebo/launch/load_ur5.launch
 create mode 100644 ur_gazebo/launch/load_ur5e.launch

diff --git a/ur_gazebo/launch/load_ur.launch b/ur_gazebo/launch/load_ur.launch
new file mode 100644
index 000000000..127c5a17a
--- /dev/null
+++ b/ur_gazebo/launch/load_ur.launch
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur parameters files -->
+  <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
+  <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
+  <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
+  <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
+  <!--common parameters  -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- Load the top-level (ie: stand-alone and complete) xacro for the UR
+       variant defined by the set of yaml parameter files (so to load a UR5
+       onto the ROS parameter server, provide paths to the .yaml files which
+       contain the limits, kinematics, physical and visual parameters which
+       together describe a UR5 robot.
+
+       NOTE: users will typically want to use use one of the other .launch files
+       in this directory (ie: 'load_urXXX.launch'), as those already contain
+       appropriate default values for the required arguments for the various
+       supported robots.
+
+       NOTE2: if you have a custom robot configuration, or your robot is
+       integrated into a work cell, do NOT change this file or add all of the
+       work cell objects to the ur.xacro file. Create a new top-level xacro and
+       include the ur_macro.xacro file into it. Then write a new .launch file
+       to load it onto the parameter server.
+  -->
+  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder
+    joint_limit_params:=$(arg joint_limit_params)
+    kinematics_params:=$(arg kinematics_params)
+    physical_params:=$(arg physical_params)
+    visual_params:=$(arg visual_params)
+    transmission_hw_interface:=$(arg transmission_hw_interface)
+    safety_limits:=$(arg safety_limits)
+    safety_pos_margin:=$(arg safety_pos_margin)
+    safety_k_position:=$(arg safety_k_position)"
+    />
+</launch>
diff --git a/ur_gazebo/launch/load_ur10.launch b/ur_gazebo/launch/load_ur10.launch
new file mode 100644
index 000000000..13cdbcd03
--- /dev/null
+++ b/ur_gazebo/launch/load_ur10.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur10 parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/load_ur10e.launch b/ur_gazebo/launch/load_ur10e.launch
new file mode 100644
index 000000000..fdf314a03
--- /dev/null
+++ b/ur_gazebo/launch/load_ur10e.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur10e parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/load_ur16e.launch b/ur_gazebo/launch/load_ur16e.launch
new file mode 100644
index 000000000..31fbacc50
--- /dev/null
+++ b/ur_gazebo/launch/load_ur16e.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur10e parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/load_ur3.launch b/ur_gazebo/launch/load_ur3.launch
new file mode 100644
index 000000000..bcab95b43
--- /dev/null
+++ b/ur_gazebo/launch/load_ur3.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur3 parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/load_ur3e.launch b/ur_gazebo/launch/load_ur3e.launch
new file mode 100644
index 000000000..e03e375a5
--- /dev/null
+++ b/ur_gazebo/launch/load_ur3e.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur3e parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/load_ur5.launch b/ur_gazebo/launch/load_ur5.launch
new file mode 100644
index 000000000..c162bcba1
--- /dev/null
+++ b/ur_gazebo/launch/load_ur5.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur5 parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/load_ur5e.launch b/ur_gazebo/launch/load_ur5e.launch
new file mode 100644
index 000000000..83c011a94
--- /dev/null
+++ b/ur_gazebo/launch/load_ur5e.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur5e parameters files -->
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
+  <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
+  <!--common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- use common launch file and pass all arguments to it -->
+  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+</launch>

From aac8d2db11fb6ea1f3064bb11a8e6a8636efec1e Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 23 Jun 2020 13:56:14 +0200
Subject: [PATCH 10/38] gazebo: use 'bringup' launch file name.

These files will serve the same purpose as those provided by a/the driver (but instead of a driver, they will launch Gazebo). Give them the same name to make them recognisable.
---
 ur_gazebo/launch/{ur10.launch => ur10_bringup.launch}   | 0
 ur_gazebo/launch/{ur10e.launch => ur10e_bringup.launch} | 0
 ur_gazebo/launch/{ur16e.launch => ur16e_bringup.launch} | 0
 ur_gazebo/launch/{ur3.launch => ur3_bringup.launch}     | 0
 ur_gazebo/launch/{ur3e.launch => ur3e_bringup.launch}   | 0
 ur_gazebo/launch/{ur5.launch => ur5_bringup.launch}     | 0
 ur_gazebo/launch/{ur5e.launch => ur5e_bringup.launch}   | 0
 7 files changed, 0 insertions(+), 0 deletions(-)
 rename ur_gazebo/launch/{ur10.launch => ur10_bringup.launch} (100%)
 rename ur_gazebo/launch/{ur10e.launch => ur10e_bringup.launch} (100%)
 rename ur_gazebo/launch/{ur16e.launch => ur16e_bringup.launch} (100%)
 rename ur_gazebo/launch/{ur3.launch => ur3_bringup.launch} (100%)
 rename ur_gazebo/launch/{ur3e.launch => ur3e_bringup.launch} (100%)
 rename ur_gazebo/launch/{ur5.launch => ur5_bringup.launch} (100%)
 rename ur_gazebo/launch/{ur5e.launch => ur5e_bringup.launch} (100%)

diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur10.launch
rename to ur_gazebo/launch/ur10_bringup.launch
diff --git a/ur_gazebo/launch/ur10e.launch b/ur_gazebo/launch/ur10e_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur10e.launch
rename to ur_gazebo/launch/ur10e_bringup.launch
diff --git a/ur_gazebo/launch/ur16e.launch b/ur_gazebo/launch/ur16e_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur16e.launch
rename to ur_gazebo/launch/ur16e_bringup.launch
diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur3.launch
rename to ur_gazebo/launch/ur3_bringup.launch
diff --git a/ur_gazebo/launch/ur3e.launch b/ur_gazebo/launch/ur3e_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur3e.launch
rename to ur_gazebo/launch/ur3e_bringup.launch
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur5.launch
rename to ur_gazebo/launch/ur5_bringup.launch
diff --git a/ur_gazebo/launch/ur5e.launch b/ur_gazebo/launch/ur5e_bringup.launch
similarity index 100%
rename from ur_gazebo/launch/ur5e.launch
rename to ur_gazebo/launch/ur5e_bringup.launch

From eb7b1f3a60d3dcdddc6da0539c4586a847b37043 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 13:56:55 +0200
Subject: [PATCH 11/38] gazebo: don't default to UR3 parameter files.

Top-level xacro should not default to any robot.
---
 ur_gazebo/urdf/ur.xacro | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index 0eceaec11..e27220afa 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -30,10 +30,10 @@
   <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
 
   <!--Declare arguments -->
-  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
-  <xacro:arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
-  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
-  <xacro:arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
+  <xacro:arg name="joint_limit_params" default=""/>
+  <xacro:arg name="physical_params" default=""/>
+  <xacro:arg name="kinematics_params" default=""/>
+  <xacro:arg name="visual_params" default=""/>
   <!-- legal values:
       - hardware_interface/PositionJointInterface
       - hardware_interface/VelocityJointInterface

From 4c2a8351cb9c950af9e9989628cacd96887d1fbf Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 13:59:22 +0200
Subject: [PATCH 12/38] gazebo: cleanup ros_control config yamls.

Use the same set of controllers for all robots, use the same names for controllers as used by `ur_robot_driver` and include the JointStateController in the same file.

NOTE: this is all position control only (and thus open-loop or 'forward command' control (using ros_control vernacular)).
---
 ur_gazebo/controller/arm_controller_ur10.yaml | 19 +++++++++----------
 ur_gazebo/controller/arm_controller_ur16.yaml | 19 +++++++++----------
 ur_gazebo/controller/arm_controller_ur3.yaml  | 19 +++++++++----------
 ur_gazebo/controller/arm_controller_ur5.yaml  | 19 +++++++++----------
 .../controller/joint_state_controller.yaml    |  3 ---
 5 files changed, 36 insertions(+), 43 deletions(-)
 delete mode 100644 ur_gazebo/controller/joint_state_controller.yaml

diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index de8f88d4a..3525e4e55 100644
--- a/ur_gazebo/controller/arm_controller_ur10.yaml
+++ b/ur_gazebo/controller/arm_controller_ur10.yaml
@@ -1,6 +1,10 @@
-arm_controller:
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+pos_traj_controller:
   type: position_controllers/JointTrajectoryController
-  joints:
+  joints: &robot_joints
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
@@ -19,12 +23,7 @@ arm_controller:
   stop_trajectory_duration: 0.5
   state_publish_rate: 25
   action_monitor_rate: 10
-joint_group_position_controller:
+
+joint_group_pos_controller:
   type: position_controllers/JointGroupPositionController
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
+  joints: *robot_joints
diff --git a/ur_gazebo/controller/arm_controller_ur16.yaml b/ur_gazebo/controller/arm_controller_ur16.yaml
index de8f88d4a..3525e4e55 100644
--- a/ur_gazebo/controller/arm_controller_ur16.yaml
+++ b/ur_gazebo/controller/arm_controller_ur16.yaml
@@ -1,6 +1,10 @@
-arm_controller:
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+pos_traj_controller:
   type: position_controllers/JointTrajectoryController
-  joints:
+  joints: &robot_joints
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
@@ -19,12 +23,7 @@ arm_controller:
   stop_trajectory_duration: 0.5
   state_publish_rate: 25
   action_monitor_rate: 10
-joint_group_position_controller:
+
+joint_group_pos_controller:
   type: position_controllers/JointGroupPositionController
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
+  joints: *robot_joints
diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml
index de8f88d4a..3525e4e55 100644
--- a/ur_gazebo/controller/arm_controller_ur3.yaml
+++ b/ur_gazebo/controller/arm_controller_ur3.yaml
@@ -1,6 +1,10 @@
-arm_controller:
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+pos_traj_controller:
   type: position_controllers/JointTrajectoryController
-  joints:
+  joints: &robot_joints
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
@@ -19,12 +23,7 @@ arm_controller:
   stop_trajectory_duration: 0.5
   state_publish_rate: 25
   action_monitor_rate: 10
-joint_group_position_controller:
+
+joint_group_pos_controller:
   type: position_controllers/JointGroupPositionController
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
+  joints: *robot_joints
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
index de8f88d4a..3525e4e55 100644
--- a/ur_gazebo/controller/arm_controller_ur5.yaml
+++ b/ur_gazebo/controller/arm_controller_ur5.yaml
@@ -1,6 +1,10 @@
-arm_controller:
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+pos_traj_controller:
   type: position_controllers/JointTrajectoryController
-  joints:
+  joints: &robot_joints
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
@@ -19,12 +23,7 @@ arm_controller:
   stop_trajectory_duration: 0.5
   state_publish_rate: 25
   action_monitor_rate: 10
-joint_group_position_controller:
+
+joint_group_pos_controller:
   type: position_controllers/JointGroupPositionController
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
+  joints: *robot_joints
diff --git a/ur_gazebo/controller/joint_state_controller.yaml b/ur_gazebo/controller/joint_state_controller.yaml
deleted file mode 100644
index dfd2fcb37..000000000
--- a/ur_gazebo/controller/joint_state_controller.yaml
+++ /dev/null
@@ -1,3 +0,0 @@
-joint_state_controller:
-  type: joint_state_controller/JointStateController
-  publish_rate: 50

From 38ce4077316c1a358dd1816b07d2d7c49c59c3ea Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 14:10:20 +0200
Subject: [PATCH 13/38] gazebo: refactor gazebo and gazebo_ros_control
 integration.

This changes all bringup launch files in this package to be like those of a regular driver. In essence, Gazebo (and the UR(s) simulated by it) are treated as just-another-robot, with the associated launch file infrastructure.

As ur_robot_driver is currently the driver most users will be exposed to and have experience with, the launch file structure of that driver has been used as a template. But instead of starting the actual ur_robot_driver node, the 'lowest' launch file (ie: 'ur_control.launch') starts Gazebo and loads and spawns the controllers. After this launch file has completed its work, users should see a ROS API (ie: topics, services and actions) similar to what they'd see when using the a real UR with ur_robot_driver.

Main differences would be (at this point, this may change in the future):

 - no force-torque sensor output (ie: no 'wrench' topic)
 - no URScript topic (as the controller is not simulated by Gazebo)
 - no IO topics nor services
 - no MainBoard or similar topics
 - no Dashboard services
 - no 'tool communication' topics nor services
 - no 'tool0_controller' TF frame

Parameter files used with the xacro macro for the real robot (ie: joint limits, kinematics, visual and physical parameters) can be used with the Gazebo simulation as well.
---
 ur_gazebo/launch/ur10_bringup.launch  | 28 +++++------
 ur_gazebo/launch/ur10e_bringup.launch | 30 +++++-------
 ur_gazebo/launch/ur16e_bringup.launch | 30 +++++-------
 ur_gazebo/launch/ur3_bringup.launch   | 30 +++++-------
 ur_gazebo/launch/ur3e_bringup.launch  | 30 +++++-------
 ur_gazebo/launch/ur5_bringup.launch   | 30 +++++-------
 ur_gazebo/launch/ur5e_bringup.launch  | 30 +++++-------
 ur_gazebo/launch/ur_common.launch     | 69 +++++++++++----------------
 ur_gazebo/launch/ur_control.launch    | 53 ++++++++++++++++++++
 9 files changed, 165 insertions(+), 165 deletions(-)
 create mode 100644 ur_gazebo/launch/ur_control.launch

diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index 5ef1622d8..4b261db61 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur10.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
   <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index 4fa2a9d5c..fe2618101 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur10e parameters files -->
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur10e.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
+  <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index d8da8b358..5cfcb3a37 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur10e parameters files -->
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur16e.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur16e.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
+  <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur16.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index 5cd48afec..74b14bbd1 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur3 parameters files -->
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur3.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
+  <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index 7acbc1e7d..d39e6ae1e 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur3e parameters files -->
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur3e.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
+  <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index 7fc1f349a..bc15f8478 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur5 parameters files -->
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur5.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
+  <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index 88c0d766c..4499a25fb 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur5e parameters files -->
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur5e.launch" doc="Robot description launch file."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+
+  <!--ur10 parameters files -->
   <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
-  <!-- gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_gazebo)/launch/ur_common.launch">
-    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-    <arg name="physical_params" value="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
+  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch
index 8ab45e79f..5a1767769 100644
--- a/ur_gazebo/launch/ur_common.launch
+++ b/ur_gazebo/launch/ur_common.launch
@@ -1,55 +1,44 @@
 <?xml version="1.0"?>
 <launch>
-
-  <!-- urdf model related parameters -->
-  <arg name="joints_limits_params" doc="YAML file containing the joints limits values"/>
-  <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different foreach robot as they contain the robot's calibration."/>
-  <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
-  <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
-
-  <!-- common parameters -->
+  <!-- Parameters we share with ur_robot_driver (as they are shared with all
+       other ros_control based systems)
+  -->
+  <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="kinematics_params" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <!-- vel_based_pos_traj_controller ? -->
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="robot_description_file" doc="Robot description launch file."/>
+
+  <!-- Common parameters -->
+  <!-- determine whether we should pass these on to 'robot_description_file' -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-  
-  <!-- gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
 
-  <!-- set robot urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder 
-    joints_limits_params:=$(arg joints_limits_params) 
-    kinematics_params:=$(arg kinematics_params) 
-    physical_params:=$(arg physical_params) 
-    visual_params:=$(arg visual_params) 
-    transmission_hw_interface:=$(arg transmission_hw_interface)
-    safety_limits:=$(arg safety_limits)
-    safety_pos_margin:=$(arg safety_pos_margin)
-    safety_k_position:=$(arg safety_k_position)"
-  />
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(arg robot_description_file)">
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+  </include>
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="50.0" />
-    <param name="tf_prefix" type="string" value="" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <!-- joint_state_controller -->
-  <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
-  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
-
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(find ur_gazebo)/launch/ur_control.launch">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur_control.launch b/ur_gazebo/launch/ur_control.launch
new file mode 100644
index 000000000..797c31e77
--- /dev/null
+++ b/ur_gazebo/launch/ur_control.launch
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<launch>
+  <!--
+    This file 'pretends' to load a driver for a UR robot, by accepting similar
+    arguments and playing a similar role (ie: starting the driver node (in this
+    case Gazebo) and loading the ros_control controllers).
+
+    Some of the arguments to this .launch file will be familiar to those using
+    the ur_robot_driver with their robot.
+
+    Other parameters are specific to Gazebo.
+
+    Note: we spawn and start the ros_control controllers here as they are,
+    together with gazebo_ros_control, essentially the replacement for the
+    driver which would be used with a real robot.
+  -->
+
+  <!-- Parameters we share with ur_robot_driver (as they are shared with all
+       other ros_control based systems)
+  -->
+  <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller"/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller"/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <arg name="spawn_z" default="0.1" doc="At which height the model should be spawned" />
+
+  <!-- Load controller settings -->
+  <rosparam file="$(arg controller_config_file)" command="load"/>
+
+  <!-- Start Gazebo and load the empty world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- Spawn the model loaded earlier in the simulation just started -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
+    args="-urdf -param robot_description -model robot -z $(arg spawn_z)"
+    output="screen" respawn="false" />
+
+  <!-- Load and start the controllers listed in the 'controllers' arg. -->
+  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner"
+    args="$(arg controllers)" output="screen" respawn="false" />
+
+  <!-- Load other controllers, but do not start them -->
+  <node name="ros_control_stopped_spawner" pkg="controller_manager" type="spawner"
+    args="--stopped $(arg stopped_controllers)" output="screen" respawn="false" />
+
+</launch>

From 53c1247775d8147141582c7ba7cf2dabf3c372eb Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 14:10:44 +0200
Subject: [PATCH 14/38] gazebo: clarify 'world' frame utility in top-level
 xacro.

---
 ur_gazebo/urdf/ur.xacro | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index e27220afa..6a6b6d9c5 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -56,7 +56,13 @@
     safety_pos_margin="$(arg safety_pos_margin)"
     safety_k_position="$(arg safety_k_position)"/>
 
-  <!-- Attach the Gazebo model to Gazebo's world frame -->
+  <!-- Attach the Gazebo model to Gazebo's world frame.
+
+       Note: if you're looking to integrate a UR into a larger scene and need
+       to add EEFs or other parts, DO NOT change this file or the 'world' link
+       here. Create a NEW xacro instead and decide whether you need to add
+       a 'world' link there.
+  -->
   <link name="world"/>
   <joint name="world_joint" type="fixed">
     <parent link="world"/>

From 1752d1bfa8b1b2ed0ecc9e7b698335780738dfff Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 14:12:19 +0200
Subject: [PATCH 15/38] gazebo: rename controller config files.

Align with names in ur_robot_driver.
---
 .../arm_controller_ur10.yaml => config/ur10_controllers.yaml}     | 0
 .../arm_controller_ur16.yaml => config/ur16e_controllers.yaml}    | 0
 .../arm_controller_ur3.yaml => config/ur3_controllers.yaml}       | 0
 .../arm_controller_ur5.yaml => config/ur5_controllers.yaml}       | 0
 4 files changed, 0 insertions(+), 0 deletions(-)
 rename ur_gazebo/{controller/arm_controller_ur10.yaml => config/ur10_controllers.yaml} (100%)
 rename ur_gazebo/{controller/arm_controller_ur16.yaml => config/ur16e_controllers.yaml} (100%)
 rename ur_gazebo/{controller/arm_controller_ur3.yaml => config/ur3_controllers.yaml} (100%)
 rename ur_gazebo/{controller/arm_controller_ur5.yaml => config/ur5_controllers.yaml} (100%)

diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/config/ur10_controllers.yaml
similarity index 100%
rename from ur_gazebo/controller/arm_controller_ur10.yaml
rename to ur_gazebo/config/ur10_controllers.yaml
diff --git a/ur_gazebo/controller/arm_controller_ur16.yaml b/ur_gazebo/config/ur16e_controllers.yaml
similarity index 100%
rename from ur_gazebo/controller/arm_controller_ur16.yaml
rename to ur_gazebo/config/ur16e_controllers.yaml
diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/config/ur3_controllers.yaml
similarity index 100%
rename from ur_gazebo/controller/arm_controller_ur3.yaml
rename to ur_gazebo/config/ur3_controllers.yaml
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/config/ur5_controllers.yaml
similarity index 100%
rename from ur_gazebo/controller/arm_controller_ur5.yaml
rename to ur_gazebo/config/ur5_controllers.yaml

From 004244cb30b91031940cdcf884b8bdb25c621063 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 14:24:35 +0200
Subject: [PATCH 16/38] gazebo: use new controller config files.

---
 ur_gazebo/launch/ur10_bringup.launch  | 2 +-
 ur_gazebo/launch/ur10e_bringup.launch | 2 +-
 ur_gazebo/launch/ur16e_bringup.launch | 2 +-
 ur_gazebo/launch/ur3_bringup.launch   | 2 +-
 ur_gazebo/launch/ur3e_bringup.launch  | 2 +-
 ur_gazebo/launch/ur5_bringup.launch   | 2 +-
 ur_gazebo/launch/ur5e_bringup.launch  | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index 4b261db61..ae97b96f9 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur10.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index fe2618101..aee963a32 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur10e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index 5cfcb3a37..4496136c5 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur16e.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur16e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index 74b14bbd1..00d19e7b5 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur3.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index d39e6ae1e..7ec0fe48c 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur3e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index bc15f8478..cfa06428e 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur5.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index 4499a25fb..8e4b6d591 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -6,7 +6,7 @@
 
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur5e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 

From 578730b24f84c6f5f76614a3c9d30b11254e0a8a Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 14:29:37 +0200
Subject: [PATCH 17/38] gazebo: set controller pub rates to be like real hw.

As we don't have separate controller config files for e-Series robots, they will still 'only' publish at 125 Hz.

We might change this in the future.
---
 ur_gazebo/config/ur10_controllers.yaml  | 4 ++--
 ur_gazebo/config/ur16e_controllers.yaml | 4 ++--
 ur_gazebo/config/ur3_controllers.yaml   | 4 ++--
 ur_gazebo/config/ur5_controllers.yaml   | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml
index 3525e4e55..62653afa8 100644
--- a/ur_gazebo/config/ur10_controllers.yaml
+++ b/ur_gazebo/config/ur10_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 50
+  publish_rate: &loop_hz 125
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController
@@ -21,7 +21,7 @@ pos_traj_controller:
     wrist_2_joint: {trajectory: 0.1, goal: 0.1}
     wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate: 25
+  state_publish_rate: *loop_hz
   action_monitor_rate: 10
 
 joint_group_pos_controller:
diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml
index 3525e4e55..071a4913a 100644
--- a/ur_gazebo/config/ur16e_controllers.yaml
+++ b/ur_gazebo/config/ur16e_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 50
+  publish_rate: &loop_hz 500
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController
@@ -21,7 +21,7 @@ pos_traj_controller:
     wrist_2_joint: {trajectory: 0.1, goal: 0.1}
     wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate: 25
+  state_publish_rate: *loop_hz
   action_monitor_rate: 10
 
 joint_group_pos_controller:
diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml
index 3525e4e55..62653afa8 100644
--- a/ur_gazebo/config/ur3_controllers.yaml
+++ b/ur_gazebo/config/ur3_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 50
+  publish_rate: &loop_hz 125
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController
@@ -21,7 +21,7 @@ pos_traj_controller:
     wrist_2_joint: {trajectory: 0.1, goal: 0.1}
     wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate: 25
+  state_publish_rate: *loop_hz
   action_monitor_rate: 10
 
 joint_group_pos_controller:
diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml
index 3525e4e55..62653afa8 100644
--- a/ur_gazebo/config/ur5_controllers.yaml
+++ b/ur_gazebo/config/ur5_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: 50
+  publish_rate: &loop_hz 125
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController
@@ -21,7 +21,7 @@ pos_traj_controller:
     wrist_2_joint: {trajectory: 0.1, goal: 0.1}
     wrist_3_joint: {trajectory: 0.1, goal: 0.1}
   stop_trajectory_duration: 0.5
-  state_publish_rate: 25
+  state_publish_rate: *loop_hz
   action_monitor_rate: 10
 
 joint_group_pos_controller:

From 8acfb54cf451c5b59bd08467a09b15203afd1506 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 17:05:14 +0200
Subject: [PATCH 18/38] gazebo: fix install rule.

---
 ur_gazebo/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt
index b38df3dc9..bde42804d 100644
--- a/ur_gazebo/CMakeLists.txt
+++ b/ur_gazebo/CMakeLists.txt
@@ -11,5 +11,5 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(tests/roslaunch_test.xml)
 endif()
 
-install(DIRECTORY launch controller urdf
+install(DIRECTORY config launch urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

From 5726c14b10c500e0024723eee97318d08b856041 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 24 Jun 2020 18:13:40 +0200
Subject: [PATCH 19/38] gazebo: test variants separately and also test bringup.

---
 ur_gazebo/CMakeLists.txt                 |  8 ++++++-
 ur_gazebo/tests/roslaunch_test.xml       | 28 ------------------------
 ur_gazebo/tests/roslaunch_test_ur10.xml  | 10 +++++++++
 ur_gazebo/tests/roslaunch_test_ur10e.xml | 10 +++++++++
 ur_gazebo/tests/roslaunch_test_ur16e.xml | 10 +++++++++
 ur_gazebo/tests/roslaunch_test_ur3.xml   | 10 +++++++++
 ur_gazebo/tests/roslaunch_test_ur3e.xml  | 10 +++++++++
 ur_gazebo/tests/roslaunch_test_ur5.xml   | 10 +++++++++
 ur_gazebo/tests/roslaunch_test_ur5e.xml  | 10 +++++++++
 9 files changed, 77 insertions(+), 29 deletions(-)
 delete mode 100644 ur_gazebo/tests/roslaunch_test.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur10.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur10e.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur16e.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur3.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur3e.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur5.xml
 create mode 100644 ur_gazebo/tests/roslaunch_test_ur5e.xml

diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt
index bde42804d..9a077b51e 100644
--- a/ur_gazebo/CMakeLists.txt
+++ b/ur_gazebo/CMakeLists.txt
@@ -8,7 +8,13 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur3.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur5.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur10.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml)
 endif()
 
 install(DIRECTORY config launch urdf
diff --git a/ur_gazebo/tests/roslaunch_test.xml b/ur_gazebo/tests/roslaunch_test.xml
deleted file mode 100644
index 4f28cb647..000000000
--- a/ur_gazebo/tests/roslaunch_test.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <group ns="ur3__">
-    <include file="$(find ur_gazebo)/launch/ur3.launch"/>
-  </group>
-
-  <group ns="ur5__">
-    <include file="$(find ur_gazebo)/launch/ur5.launch"/>
-  </group>
-
-  <group ns="ur10__">
-    <include file="$(find ur_gazebo)/launch/ur10.launch"/>
-  </group>
-
-  <group ns="ur3e__">
-    <include file="$(find ur_gazebo)/launch/ur3e.launch"/>
-  </group>
-
-  <group ns="ur5e__">
-    <include file="$(find ur_gazebo)/launch/ur5e.launch"/>
-  </group>
-
-  <group ns="ur10e__">
-    <include file="$(find ur_gazebo)/launch/ur10e.launch"/>
-  </group>
-
-</launch>
\ No newline at end of file
diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml
new file mode 100644
index 000000000..13b5d8306
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur10.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur10__">
+    <include file="$(find ur_gazebo)/launch/load_ur10.launch"/>
+  </group>
+
+  <group ns="ur10_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur10_bringup.launch"/>
+  </group>
+</launch>
diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml
new file mode 100644
index 000000000..8b009e882
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur10e.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur10e__">
+    <include file="$(find ur_gazebo)/launch/load_ur10e.launch"/>
+  </group>
+
+  <group ns="ur10e_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur10e_bringup.launch"/>
+  </group>
+</launch>
diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml
new file mode 100644
index 000000000..d24fd64e6
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur16e.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur16e__">
+    <include file="$(find ur_gazebo)/launch/load_ur16e.launch"/>
+  </group>
+
+  <group ns="ur16e_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur16e_bringup.launch"/>
+  </group>
+</launch>
diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/tests/roslaunch_test_ur3.xml
new file mode 100644
index 000000000..7f4558f78
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur3.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur3__">
+    <include file="$(find ur_gazebo)/launch/load_ur3.launch"/>
+  </group>
+
+  <group ns="ur3_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur3_bringup.launch"/>
+  </group>
+</launch>
diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml
new file mode 100644
index 000000000..b5232ff68
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur3e.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur3e__">
+    <include file="$(find ur_gazebo)/launch/load_ur3e.launch"/>
+  </group>
+
+  <group ns="ur3e_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur3e_bringup.launch"/>
+  </group>
+</launch>
diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml
new file mode 100644
index 000000000..89df2cb38
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur5.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur5__">
+    <include file="$(find ur_gazebo)/launch/load_ur5.launch"/>
+  </group>
+
+  <group ns="ur5_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur5_bringup.launch"/>
+  </group>
+</launch>
diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml
new file mode 100644
index 000000000..67877fbd6
--- /dev/null
+++ b/ur_gazebo/tests/roslaunch_test_ur5e.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="ur5e__">
+    <include file="$(find ur_gazebo)/launch/load_ur5e.launch"/>
+  </group>
+
+  <group ns="ur5e_bringup__">
+    <include file="$(find ur_gazebo)/launch/ur5e_bringup.launch"/>
+  </group>
+</launch>

From 93ee95ab84f0170c1aa801f1e34c2a57f3e7ab91 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:13:21 +0200
Subject: [PATCH 20/38] gazebo: load URDF in bringup launch files.

The main 'driver' launch file should not load the URDF, as it's not the task of the driver.

This also removes one level of argument-forwarding (namely: the arguments for the xacro macro).

Finally, it provides a nicer template for users to base their own launch files on, as they 'only' have to deal with these top-level bringup launch files.
---
 ur_gazebo/launch/ur10_bringup.launch  | 17 +++++++++++++++--
 ur_gazebo/launch/ur10e_bringup.launch | 17 +++++++++++++++--
 ur_gazebo/launch/ur16e_bringup.launch | 17 +++++++++++++++--
 ur_gazebo/launch/ur3_bringup.launch   | 17 +++++++++++++++--
 ur_gazebo/launch/ur3e_bringup.launch  | 17 +++++++++++++++--
 ur_gazebo/launch/ur5_bringup.launch   | 17 +++++++++++++++--
 ur_gazebo/launch/ur5e_bringup.launch  | 17 +++++++++++++++--
 ur_gazebo/launch/ur_common.launch     | 13 -------------
 8 files changed, 105 insertions(+), 27 deletions(-)

diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index ae97b96f9..f1a02446a 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur10.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur10.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index aee963a32..f27e8c958 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur10e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur10e.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index 4496136c5..f9b73fa87 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur16e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur16e.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index 00d19e7b5..9f867ca3d 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur3.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur3.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index 7ec0fe48c..cc1593f04 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur3e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur3e.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index cfa06428e..b69ab2d9a 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur5.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur5.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index 8e4b6d591..c8e792532 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -7,14 +7,27 @@
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_gazebo)/launch/load_ur5e.launch" doc="Robot description launch file."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
 
+  <!-- Load robot model onto the parameter server -->
+  <include file="$(find ur_gazebo)/launch/load_ur5e.launch">
+    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
+    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+  </include>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" />
+  </node>
+
   <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch
index 5a1767769..06c13cba5 100644
--- a/ur_gazebo/launch/ur_common.launch
+++ b/ur_gazebo/launch/ur_common.launch
@@ -5,11 +5,9 @@
   -->
   <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="kinematics_params" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <!-- vel_based_pos_traj_controller ? -->
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="robot_description_file" doc="Robot description launch file."/>
 
   <!-- Common parameters -->
   <!-- determine whether we should pass these on to 'robot_description_file' -->
@@ -22,17 +20,6 @@
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(arg robot_description_file)">
-    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
-  </include>
-
-  <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
   <!-- Start the 'driver' (ie: Gazebo in this case) -->
   <include file="$(find ur_gazebo)/launch/ur_control.launch">
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

From 91cf163ba6fae23a099f35aadd5b6371a2f9ae16 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:14:02 +0200
Subject: [PATCH 21/38] gazebo: fix comments in bringup launch files.

---
 ur_gazebo/launch/load_ur.launch       | 5 +++--
 ur_gazebo/launch/load_ur10.launch     | 7 ++++---
 ur_gazebo/launch/load_ur10e.launch    | 7 ++++---
 ur_gazebo/launch/load_ur16e.launch    | 7 ++++---
 ur_gazebo/launch/load_ur3.launch      | 7 ++++---
 ur_gazebo/launch/load_ur3e.launch     | 7 ++++---
 ur_gazebo/launch/load_ur5.launch      | 7 ++++---
 ur_gazebo/launch/load_ur5e.launch     | 7 ++++---
 ur_gazebo/launch/ur10_bringup.launch  | 4 ++--
 ur_gazebo/launch/ur10e_bringup.launch | 4 ++--
 ur_gazebo/launch/ur16e_bringup.launch | 4 ++--
 ur_gazebo/launch/ur3_bringup.launch   | 4 ++--
 ur_gazebo/launch/ur3e_bringup.launch  | 4 ++--
 ur_gazebo/launch/ur5_bringup.launch   | 4 ++--
 ur_gazebo/launch/ur5e_bringup.launch  | 4 ++--
 15 files changed, 45 insertions(+), 37 deletions(-)

diff --git a/ur_gazebo/launch/load_ur.launch b/ur_gazebo/launch/load_ur.launch
index 127c5a17a..a5509a2f9 100644
--- a/ur_gazebo/launch/load_ur.launch
+++ b/ur_gazebo/launch/load_ur.launch
@@ -1,11 +1,12 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
   <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
   <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
   <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
-  <!--common parameters  -->
+
+  <!--Common parameters  -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
diff --git a/ur_gazebo/launch/load_ur10.launch b/ur_gazebo/launch/load_ur10.launch
index 13cdbcd03..ec759dcc4 100644
--- a/ur_gazebo/launch/load_ur10.launch
+++ b/ur_gazebo/launch/load_ur10.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/load_ur10e.launch b/ur_gazebo/launch/load_ur10e.launch
index fdf314a03..dcb71ea39 100644
--- a/ur_gazebo/launch/load_ur10e.launch
+++ b/ur_gazebo/launch/load_ur10e.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur10e parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/load_ur16e.launch b/ur_gazebo/launch/load_ur16e.launch
index 31fbacc50..a6c53c8bd 100644
--- a/ur_gazebo/launch/load_ur16e.launch
+++ b/ur_gazebo/launch/load_ur16e.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur10e parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/load_ur3.launch b/ur_gazebo/launch/load_ur3.launch
index bcab95b43..2efe2b66b 100644
--- a/ur_gazebo/launch/load_ur3.launch
+++ b/ur_gazebo/launch/load_ur3.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur3 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/load_ur3e.launch b/ur_gazebo/launch/load_ur3e.launch
index e03e375a5..c50470edc 100644
--- a/ur_gazebo/launch/load_ur3e.launch
+++ b/ur_gazebo/launch/load_ur3e.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur3e parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/load_ur5.launch b/ur_gazebo/launch/load_ur5.launch
index c162bcba1..bfb60aaac 100644
--- a/ur_gazebo/launch/load_ur5.launch
+++ b/ur_gazebo/launch/load_ur5.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur5 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/load_ur5e.launch b/ur_gazebo/launch/load_ur5e.launch
index 83c011a94..0f4473d65 100644
--- a/ur_gazebo/launch/load_ur5e.launch
+++ b/ur_gazebo/launch/load_ur5e.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <!--ur5e parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
-  <!--common parameters -->
+
+  <!--Common parameters -->
   <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <!-- use common launch file and pass all arguments to it -->
+  <!-- Use common launch file and pass all arguments to it -->
   <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index f1a02446a..3ef2b8159 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index f27e8c958..358222dea 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index f9b73fa87..d2863c928 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index 9f867ca3d..2fce3c24c 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index cc1593f04..6c9d5bc93 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index b69ab2d9a..24f0e6a10 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index c8e792532..ada7cbbd5 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- gazebo parameters-->
+  <!-- Gazebo parameters-->
   <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
 
-  <!--ur10 parameters files -->
+  <!--Parameter files -->
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>

From 482f4c854633846d70f4afd0ed12af322efe233f Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:14:23 +0200
Subject: [PATCH 22/38] gazebo: there is no 'vel_based_pos_traj_controller', so
 remove.

---
 ur_gazebo/launch/ur_common.launch | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch
index 06c13cba5..580f7e4d4 100644
--- a/ur_gazebo/launch/ur_common.launch
+++ b/ur_gazebo/launch/ur_common.launch
@@ -5,7 +5,6 @@
   -->
   <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="kinematics_params" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <!-- vel_based_pos_traj_controller ? -->
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 

From 5255796d12651a35ef9d7ad30d2b9d4bd2f6d72d Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:17:43 +0200
Subject: [PATCH 23/38] gazebo: hide non-entry-point launch files.

These launch files are not meant to be started directly, so 'hide' them roslaunch's auto-complete.
---
 ur_gazebo/launch/{ur_common.launch => inc/ur_common.launch.xml}   | 0
 ur_gazebo/launch/{ur_control.launch => inc/ur_control.launch.xml} | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename ur_gazebo/launch/{ur_common.launch => inc/ur_common.launch.xml} (100%)
 rename ur_gazebo/launch/{ur_control.launch => inc/ur_control.launch.xml} (100%)

diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/inc/ur_common.launch.xml
similarity index 100%
rename from ur_gazebo/launch/ur_common.launch
rename to ur_gazebo/launch/inc/ur_common.launch.xml
diff --git a/ur_gazebo/launch/ur_control.launch b/ur_gazebo/launch/inc/ur_control.launch.xml
similarity index 100%
rename from ur_gazebo/launch/ur_control.launch
rename to ur_gazebo/launch/inc/ur_control.launch.xml

From ab94498a65453c8f9fd8dc4fa8c8585c7551f55b Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:22:07 +0200
Subject: [PATCH 24/38] gazebo: update paths to included launch files.

Use 'dirname' substitution arg to express relative include.
---
 ur_gazebo/launch/inc/ur_common.launch.xml | 2 +-
 ur_gazebo/launch/ur10_bringup.launch      | 2 +-
 ur_gazebo/launch/ur10e_bringup.launch     | 2 +-
 ur_gazebo/launch/ur16e_bringup.launch     | 2 +-
 ur_gazebo/launch/ur3_bringup.launch       | 2 +-
 ur_gazebo/launch/ur3e_bringup.launch      | 2 +-
 ur_gazebo/launch/ur5_bringup.launch       | 2 +-
 ur_gazebo/launch/ur5e_bringup.launch      | 2 +-
 8 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ur_gazebo/launch/inc/ur_common.launch.xml b/ur_gazebo/launch/inc/ur_common.launch.xml
index 580f7e4d4..11a304cce 100644
--- a/ur_gazebo/launch/inc/ur_common.launch.xml
+++ b/ur_gazebo/launch/inc/ur_common.launch.xml
@@ -20,7 +20,7 @@
   <arg name="gui" default="true" doc="Starts Gazebo gui" />
 
   <!-- Start the 'driver' (ie: Gazebo in this case) -->
-  <include file="$(find ur_gazebo)/launch/ur_control.launch">
+  <include file="$(dirname)/ur_control.launch.xml">
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="controllers" value="$(arg controllers)"/>
     <arg name="gui" value="$(arg gui)"/>
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index 3ef2b8159..2325d4735 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index 358222dea..d8487a9c1 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index d2863c928..76bf3c869 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index 2fce3c24c..d3bf50efb 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index 6c9d5bc93..a8b845b37 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index 24f0e6a10..a5d96c3b9 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index ada7cbbd5..bcbc857b4 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -29,5 +29,5 @@
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(find ur_gazebo)/launch/ur_common.launch" pass_all_args="true"/>
+  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
 </launch>

From 5a8add1248f89568259ac8adc3d62f8c915ebe69 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:23:39 +0200
Subject: [PATCH 25/38] gazebo: hide loaders as well.

---
 ur_gazebo/launch/{load_ur.launch => inc/load_ur.launch.xml}       | 0
 ur_gazebo/launch/{load_ur10.launch => inc/load_ur10.launch.xml}   | 0
 ur_gazebo/launch/{load_ur10e.launch => inc/load_ur10e.launch.xml} | 0
 ur_gazebo/launch/{load_ur16e.launch => inc/load_ur16e.launch.xml} | 0
 ur_gazebo/launch/{load_ur3.launch => inc/load_ur3.launch.xml}     | 0
 ur_gazebo/launch/{load_ur3e.launch => inc/load_ur3e.launch.xml}   | 0
 ur_gazebo/launch/{load_ur5.launch => inc/load_ur5.launch.xml}     | 0
 ur_gazebo/launch/{load_ur5e.launch => inc/load_ur5e.launch.xml}   | 0
 8 files changed, 0 insertions(+), 0 deletions(-)
 rename ur_gazebo/launch/{load_ur.launch => inc/load_ur.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur10.launch => inc/load_ur10.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur10e.launch => inc/load_ur10e.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur16e.launch => inc/load_ur16e.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur3.launch => inc/load_ur3.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur3e.launch => inc/load_ur3e.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur5.launch => inc/load_ur5.launch.xml} (100%)
 rename ur_gazebo/launch/{load_ur5e.launch => inc/load_ur5e.launch.xml} (100%)

diff --git a/ur_gazebo/launch/load_ur.launch b/ur_gazebo/launch/inc/load_ur.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur.launch
rename to ur_gazebo/launch/inc/load_ur.launch.xml
diff --git a/ur_gazebo/launch/load_ur10.launch b/ur_gazebo/launch/inc/load_ur10.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur10.launch
rename to ur_gazebo/launch/inc/load_ur10.launch.xml
diff --git a/ur_gazebo/launch/load_ur10e.launch b/ur_gazebo/launch/inc/load_ur10e.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur10e.launch
rename to ur_gazebo/launch/inc/load_ur10e.launch.xml
diff --git a/ur_gazebo/launch/load_ur16e.launch b/ur_gazebo/launch/inc/load_ur16e.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur16e.launch
rename to ur_gazebo/launch/inc/load_ur16e.launch.xml
diff --git a/ur_gazebo/launch/load_ur3.launch b/ur_gazebo/launch/inc/load_ur3.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur3.launch
rename to ur_gazebo/launch/inc/load_ur3.launch.xml
diff --git a/ur_gazebo/launch/load_ur3e.launch b/ur_gazebo/launch/inc/load_ur3e.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur3e.launch
rename to ur_gazebo/launch/inc/load_ur3e.launch.xml
diff --git a/ur_gazebo/launch/load_ur5.launch b/ur_gazebo/launch/inc/load_ur5.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur5.launch
rename to ur_gazebo/launch/inc/load_ur5.launch.xml
diff --git a/ur_gazebo/launch/load_ur5e.launch b/ur_gazebo/launch/inc/load_ur5e.launch.xml
similarity index 100%
rename from ur_gazebo/launch/load_ur5e.launch
rename to ur_gazebo/launch/inc/load_ur5e.launch.xml

From 225b7729f0cdf2fa34477bc93c08f508e496dde4 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:33:19 +0200
Subject: [PATCH 26/38] gazebo: include load launch file with relative include.

---
 ur_gazebo/launch/inc/load_ur10.launch.xml  | 2 +-
 ur_gazebo/launch/inc/load_ur10e.launch.xml | 2 +-
 ur_gazebo/launch/inc/load_ur16e.launch.xml | 2 +-
 ur_gazebo/launch/inc/load_ur3.launch.xml   | 2 +-
 ur_gazebo/launch/inc/load_ur3e.launch.xml  | 2 +-
 ur_gazebo/launch/inc/load_ur5.launch.xml   | 2 +-
 ur_gazebo/launch/inc/load_ur5e.launch.xml  | 2 +-
 ur_gazebo/launch/ur10_bringup.launch       | 2 +-
 ur_gazebo/launch/ur10e_bringup.launch      | 2 +-
 ur_gazebo/launch/ur16e_bringup.launch      | 2 +-
 ur_gazebo/launch/ur3_bringup.launch        | 2 +-
 ur_gazebo/launch/ur3e_bringup.launch       | 2 +-
 ur_gazebo/launch/ur5_bringup.launch        | 2 +-
 ur_gazebo/launch/ur5e_bringup.launch       | 2 +-
 14 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml
index ec759dcc4..42eb123f6 100644
--- a/ur_gazebo/launch/inc/load_ur10.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur10.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml
index dcb71ea39..568b6c16c 100644
--- a/ur_gazebo/launch/inc/load_ur10e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur10e.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml
index a6c53c8bd..5b648003e 100644
--- a/ur_gazebo/launch/inc/load_ur16e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur16e.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml
index 2efe2b66b..09e853a02 100644
--- a/ur_gazebo/launch/inc/load_ur3.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur3.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml
index c50470edc..13cf424ff 100644
--- a/ur_gazebo/launch/inc/load_ur3e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur3e.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml
index bfb60aaac..8ddf9a0ae 100644
--- a/ur_gazebo/launch/inc/load_ur5.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur5.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml
index 0f4473d65..4b898a6f0 100644
--- a/ur_gazebo/launch/inc/load_ur5e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur5e.launch.xml
@@ -13,5 +13,5 @@
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
   <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(find ur_gazebo)/launch/load_ur.launch" pass_all_args="true"/>
+  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true"/>
 </launch>
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index 2325d4735..12a939767 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur10.launch">
+  <include file="$(dirname)/inc/load_ur10.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index d8487a9c1..4c7e08818 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur10e.launch">
+  <include file="$(dirname)/inc/load_ur10e.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index 76bf3c869..de5a9ab71 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur16e.launch">
+  <include file="$(dirname)/inc/load_ur16e.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index d3bf50efb..c31201fac 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur3.launch">
+  <include file="$(dirname)/inc/load_ur3.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index a8b845b37..5f4e6ab97 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur3e.launch">
+  <include file="$(dirname)/inc/load_ur3e.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index a5d96c3b9..814812d07 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur5.launch">
+  <include file="$(dirname)/inc/load_ur5.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index bcbc857b4..e188cccbc 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -16,7 +16,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
 
   <!-- Load robot model onto the parameter server -->
-  <include file="$(find ur_gazebo)/launch/load_ur5e.launch">
+  <include file="$(dirname)/inc/load_ur5e.launch.xml">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>

From b48781e0b018555053f4ef5277d94e0e7aa65811 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:33:59 +0200
Subject: [PATCH 27/38] gazebo: update tests to load non-entry-point loaders.

---
 ur_gazebo/tests/roslaunch_test_ur10.xml  | 2 +-
 ur_gazebo/tests/roslaunch_test_ur10e.xml | 2 +-
 ur_gazebo/tests/roslaunch_test_ur16e.xml | 2 +-
 ur_gazebo/tests/roslaunch_test_ur3.xml   | 2 +-
 ur_gazebo/tests/roslaunch_test_ur3e.xml  | 2 +-
 ur_gazebo/tests/roslaunch_test_ur5.xml   | 2 +-
 ur_gazebo/tests/roslaunch_test_ur5e.xml  | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml
index 13b5d8306..02e6458c7 100644
--- a/ur_gazebo/tests/roslaunch_test_ur10.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur10.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur10__">
-    <include file="$(find ur_gazebo)/launch/load_ur10.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur10.launch.xml"/>
   </group>
 
   <group ns="ur10_bringup__">
diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml
index 8b009e882..8443ef3d4 100644
--- a/ur_gazebo/tests/roslaunch_test_ur10e.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur10e.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur10e__">
-    <include file="$(find ur_gazebo)/launch/load_ur10e.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur10e.launch.xml"/>
   </group>
 
   <group ns="ur10e_bringup__">
diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml
index d24fd64e6..566e1f1cd 100644
--- a/ur_gazebo/tests/roslaunch_test_ur16e.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur16e.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur16e__">
-    <include file="$(find ur_gazebo)/launch/load_ur16e.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur16e.launch.xml"/>
   </group>
 
   <group ns="ur16e_bringup__">
diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/tests/roslaunch_test_ur3.xml
index 7f4558f78..d9c9c148d 100644
--- a/ur_gazebo/tests/roslaunch_test_ur3.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur3.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur3__">
-    <include file="$(find ur_gazebo)/launch/load_ur3.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur3.launch.xml"/>
   </group>
 
   <group ns="ur3_bringup__">
diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml
index b5232ff68..4a10cd48f 100644
--- a/ur_gazebo/tests/roslaunch_test_ur3e.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur3e.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur3e__">
-    <include file="$(find ur_gazebo)/launch/load_ur3e.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur3e.launch.xml"/>
   </group>
 
   <group ns="ur3e_bringup__">
diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml
index 89df2cb38..dae9deae7 100644
--- a/ur_gazebo/tests/roslaunch_test_ur5.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur5.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur5__">
-    <include file="$(find ur_gazebo)/launch/load_ur5.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur5.launch.xml"/>
   </group>
 
   <group ns="ur5_bringup__">
diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml
index 67877fbd6..0cf392035 100644
--- a/ur_gazebo/tests/roslaunch_test_ur5e.xml
+++ b/ur_gazebo/tests/roslaunch_test_ur5e.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group ns="ur5e__">
-    <include file="$(find ur_gazebo)/launch/load_ur5e.launch"/>
+    <include file="$(find ur_gazebo)/launch/inc/load_ur5e.launch.xml"/>
   </group>
 
   <group ns="ur5e_bringup__">

From a08b5654c0bdce08b98ca6bc5a8c7315a65900db Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 25 Jun 2020 13:50:59 +0200
Subject: [PATCH 28/38] gazebo: rostopic is no longer used.

---
 ur_gazebo/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml
index 506cef08e..89e20c456 100644
--- a/ur_gazebo/package.xml
+++ b/ur_gazebo/package.xml
@@ -28,7 +28,6 @@
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>position_controllers</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rostopic</exec_depend>
   <exec_depend>ur_description</exec_depend>
 
   <export>

From 17235da4af029b7a6fb46a8c949bbb8e590a55e3 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 30 Jun 2020 11:35:55 +0200
Subject: [PATCH 29/38] gazebo: ur_control: allow more control over launch
 args.

Over:

 - which world to load
 - whether to start Gazebo or not
 - from which parameter to (attempt to) load the urdf
 - what name to give to the spawned robot model (inside the simulation)
---
 ur_gazebo/launch/inc/ur_control.launch.xml | 28 +++++++++++++---------
 1 file changed, 17 insertions(+), 11 deletions(-)

diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml
index 797c31e77..c30a3b0c4 100644
--- a/ur_gazebo/launch/inc/ur_control.launch.xml
+++ b/ur_gazebo/launch/inc/ur_control.launch.xml
@@ -10,36 +10,42 @@
 
     Other parameters are specific to Gazebo.
 
-    Note: we spawn and start the ros_control controllers here as they are,
+    Note: we spawn and start the ros_control controllers here, as they are,
     together with gazebo_ros_control, essentially the replacement for the
     driver which would be used with a real robot.
   -->
 
-  <!-- Parameters we share with ur_robot_driver (as they are shared with all
-       other ros_control based systems)
-  -->
+  <!-- Parameters we share with ur_robot_driver -->
   <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="controllers" default="joint_state_controller pos_traj_controller"/>
   <arg name="stopped_controllers" default="joint_group_pos_controller"/>
 
   <!-- Gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
-  <arg name="spawn_z" default="0.1" doc="At which height the model should be spawned" />
+  <arg name="gazebo_model_name" default="robot" doc="The name to give to the model in Gazebo (after spawning it)." />
+  <arg name="gazebo_world" default="worlds/empty.world" doc="The '.world' file to load in Gazebo." />
+  <arg name="gui" default="true" doc="If true, Gazebo UI is started. If false, only start Gazebo server." />
+  <arg name="paused" default="false" doc="If true, start Gazebo in paused mode. If false, start simulation as soon as Gazebo has loaded." />
+  <arg name="robot_description_param_name" default="robot_description" doc="Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo." />
+  <arg name="spawn_z" default="0.1" doc="At which height the model should be spawned." />
+  <arg name="start_gazebo" default="true" doc="If true, Gazebo will be started. If false, Gazebo will be assumed to have been started elsewhere." />
 
   <!-- Load controller settings -->
   <rosparam file="$(arg controller_config_file)" command="load"/>
 
-  <!-- Start Gazebo and load the empty world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
+  <!-- Start Gazebo and load the empty world if requested to do so -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg start_gazebo)">
+    <arg name="world_name" value="$(arg gazebo_world)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gui" value="$(arg gui)"/>
   </include>
 
   <!-- Spawn the model loaded earlier in the simulation just started -->
   <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
-    args="-urdf -param robot_description -model robot -z $(arg spawn_z)"
+    args="
+      -urdf
+      -param $(arg robot_description_param_name)
+      -model $(arg gazebo_model_name)
+      -z $(arg spawn_z)"
     output="screen" respawn="false" />
 
   <!-- Load and start the controllers listed in the 'controllers' arg. -->

From e34872e671fd2a56421d43688249e4528598a8af Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 30 Jun 2020 11:42:33 +0200
Subject: [PATCH 30/38] gazebo: restructure bringup entry points.

By lifting some of the nodes and parameters to the bringup files (from ur_common.launch.xml), they should be easier to use (and maintain).

Anything specific to the use of a robot in a particular configuration (ie: a workcell or simulation) should exist at the bringup level, not in a common (ie: shared) file, as that will make it harder to change (as changes will be shared by many other setups).

This restructuring makes ur_common.launch.xml redundant, so we also remove it.
---
 ur_gazebo/launch/inc/load_ur.launch.xml   | 27 +++++-----
 ur_gazebo/launch/inc/ur_common.launch.xml | 30 -----------
 ur_gazebo/launch/ur10_bringup.launch      | 66 ++++++++++++++++++-----
 ur_gazebo/launch/ur10e_bringup.launch     | 66 ++++++++++++++++++-----
 ur_gazebo/launch/ur16e_bringup.launch     | 66 ++++++++++++++++++-----
 ur_gazebo/launch/ur3_bringup.launch       | 66 ++++++++++++++++++-----
 ur_gazebo/launch/ur3e_bringup.launch      | 66 ++++++++++++++++++-----
 ur_gazebo/launch/ur5_bringup.launch       | 66 ++++++++++++++++++-----
 ur_gazebo/launch/ur5e_bringup.launch      | 66 ++++++++++++++++++-----
 9 files changed, 392 insertions(+), 127 deletions(-)
 delete mode 100644 ur_gazebo/launch/inc/ur_common.launch.xml

diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml
index a5509a2f9..254c82f36 100644
--- a/ur_gazebo/launch/inc/load_ur.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur.launch.xml
@@ -1,22 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <!--Parameter files -->
-  <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
-  <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
-  <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
-  <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
-
-  <!--Common parameters  -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
   <!-- Load the top-level (ie: stand-alone and complete) xacro for the UR
        variant defined by the set of yaml parameter files (so to load a UR5
        onto the ROS parameter server, provide paths to the .yaml files which
        contain the limits, kinematics, physical and visual parameters which
-       together describe a UR5 robot.
+       together describe a UR5 robot).
 
        NOTE: users will typically want to use use one of the other .launch files
        in this directory (ie: 'load_urXXX.launch'), as those already contain
@@ -29,6 +17,19 @@
        include the ur_macro.xacro file into it. Then write a new .launch file
        to load it onto the parameter server.
   -->
+
+  <!--Parameter files -->
+  <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
+  <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
+  <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
+  <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
+
+  <!--Common parameters  -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
   <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder
     joint_limit_params:=$(arg joint_limit_params)
     kinematics_params:=$(arg kinematics_params)
diff --git a/ur_gazebo/launch/inc/ur_common.launch.xml b/ur_gazebo/launch/inc/ur_common.launch.xml
deleted file mode 100644
index 11a304cce..000000000
--- a/ur_gazebo/launch/inc/ur_common.launch.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- Parameters we share with ur_robot_driver (as they are shared with all
-       other ros_control based systems)
-  -->
-  <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="kinematics_params" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-
-  <!-- Common parameters -->
-  <!-- determine whether we should pass these on to 'robot_description_file' -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <!-- Gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
-
-  <!-- Start the 'driver' (ie: Gazebo in this case) -->
-  <include file="$(dirname)/ur_control.launch.xml">
-    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
-    <arg name="controllers" value="$(arg controllers)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index 12a939767..5d07a7a39 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR10 into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR10. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR10 with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur10.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur10.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index 4c7e08818..f2731e628 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR10e into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR10e. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR10e with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur10e.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur10e.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index de5a9ab71..2e6a51ef0 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR16e into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR16e. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR16e with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur16e.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur16e.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index c31201fac..86c8e02e4 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR3 into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR3. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR3 with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur3.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur3.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index 5f4e6ab97..2bbbb71a5 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR3e into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR3e. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR3e with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur3e.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur3e.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index 814812d07..6f33db7d7 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR5 into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR5. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR5 with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur5.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur5.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index e188cccbc..97b55f081 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -1,22 +1,57 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo parameters-->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+  <!--
+    Main entry point for loading a single UR5e into Gazebo, in isolation, in the
+    empty world.
 
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).
+
+    This bringup .launch file is intentionally given the same name as the one in
+    the ur_robot_driver package, as it fulfills a similar role: loading the
+    configuration and starting the necessary ROS nodes which in the end provide
+    a ROS API to a Universal Robots UR5e. Only in this case, instead of a real
+    robot, a virtual model in Gazebo is used.
+
+    NOTE 1: as this is not a real robot, there are limits to the faithfulness
+    of the simulation. Dynamic behaviour will be different from a real robot.
+    Only a subset of topics, actions and services is supported. Specifically,
+    interaction with the Control Box itself is not supported, as Gazebo does not
+    simulate a Control Box. This means: no Dashboard server, no URScript topic
+    and no force-torque sensor among other things.
+
+    NOTE 2: users wishing to integrate a UR5e with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
 
-  <!--Parameter files -->
+  <!--Robot description and related parameter files -->
+  <arg name="robot_description_file" default="$(dirname)/inc/load_ur5e.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
   <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
 
-  <!-- Load robot model onto the parameter server -->
-  <include file="$(dirname)/inc/load_ur5e.launch.xml">
+  <!-- Controller configuration -->
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts Gazebo gui" />
+
+  <!-- Load urdf on the parameter server -->
+  <include file="$(arg robot_description_file)">
     <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
@@ -25,9 +60,16 @@
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="125.0" />
+    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
     <param name="tf_prefix" value="$(arg tf_prefix)" />
   </node>
 
-  <include file="$(dirname)/inc/ur_common.launch.xml" pass_all_args="true"/>
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/inc/ur_control.launch.xml">
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
 </launch>

From 4ebb070728bb502150ece9ac217bf59d9e19a35f Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 30 Jun 2020 12:18:07 +0200
Subject: [PATCH 31/38] gazebo: give e-Series variants their own controller
 configs.

---
 ur_gazebo/config/ur10e_controllers.yaml | 29 +++++++++++++++++++++++++
 ur_gazebo/config/ur3e_controllers.yaml  | 29 +++++++++++++++++++++++++
 ur_gazebo/config/ur5e_controllers.yaml  | 29 +++++++++++++++++++++++++
 ur_gazebo/launch/ur10e_bringup.launch   |  2 +-
 ur_gazebo/launch/ur3e_bringup.launch    |  2 +-
 ur_gazebo/launch/ur5e_bringup.launch    |  2 +-
 6 files changed, 90 insertions(+), 3 deletions(-)
 create mode 100644 ur_gazebo/config/ur10e_controllers.yaml
 create mode 100644 ur_gazebo/config/ur3e_controllers.yaml
 create mode 100644 ur_gazebo/config/ur5e_controllers.yaml

diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml
new file mode 100644
index 000000000..62653afa8
--- /dev/null
+++ b/ur_gazebo/config/ur10e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 125
+
+pos_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml
new file mode 100644
index 000000000..62653afa8
--- /dev/null
+++ b/ur_gazebo/config/ur3e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 125
+
+pos_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml
new file mode 100644
index 000000000..62653afa8
--- /dev/null
+++ b/ur_gazebo/config/ur5e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 125
+
+pos_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index f2731e628..8ff46de79 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -38,7 +38,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
 
   <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index 2bbbb71a5..985fba604 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -38,7 +38,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
 
   <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index 97b55f081..4106d4bb9 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -38,7 +38,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
 
   <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 

From 8732d0f3b9bfc4c8a8dd91375cb8bc00699f82ae Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 30 Jun 2020 12:18:53 +0200
Subject: [PATCH 32/38] gazebo: run e-Series controllers at 500 Hz.

Same rate as the real controller.
---
 ur_gazebo/config/ur10e_controllers.yaml | 2 +-
 ur_gazebo/config/ur3e_controllers.yaml  | 2 +-
 ur_gazebo/config/ur5e_controllers.yaml  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml
index 62653afa8..071a4913a 100644
--- a/ur_gazebo/config/ur10e_controllers.yaml
+++ b/ur_gazebo/config/ur10e_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: &loop_hz 125
+  publish_rate: &loop_hz 500
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController
diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml
index 62653afa8..071a4913a 100644
--- a/ur_gazebo/config/ur3e_controllers.yaml
+++ b/ur_gazebo/config/ur3e_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: &loop_hz 125
+  publish_rate: &loop_hz 500
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController
diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml
index 62653afa8..071a4913a 100644
--- a/ur_gazebo/config/ur5e_controllers.yaml
+++ b/ur_gazebo/config/ur5e_controllers.yaml
@@ -1,6 +1,6 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
-  publish_rate: &loop_hz 125
+  publish_rate: &loop_hz 500
 
 pos_traj_controller:
   type: position_controllers/JointTrajectoryController

From 36b2eae701cec0cca7f651b8e7f4c21928595209 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 30 Jun 2020 12:41:24 +0200
Subject: [PATCH 33/38] gazebo: update comments in xacros.

---
 ur_gazebo/urdf/ur.xacro       | 28 +++++++++------
 ur_gazebo/urdf/ur_macro.xacro | 64 ++++++++++++++++++++++++++++-------
 2 files changed, 70 insertions(+), 22 deletions(-)

diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index 6a6b6d9c5..3975c83e2 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -23,9 +23,11 @@
     connect everything by adding the appropriate joints.
   -->
 
-  <!-- Import main macro.
-       Note: this imports the Gazebo-wrapper main macro, NOT the regular
-       xacro macro (which is hosted by ur_description).
+  <!--
+    Import main macro.
+
+    NOTE: this imports the Gazebo-wrapper main macro, NOT the regular
+          xacro macro (which is hosted by ur_description).
   -->
   <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
 
@@ -34,10 +36,14 @@
   <xacro:arg name="physical_params" default=""/>
   <xacro:arg name="kinematics_params" default=""/>
   <xacro:arg name="visual_params" default=""/>
-  <!-- legal values:
+  <!--
+    legal values:
       - hardware_interface/PositionJointInterface
       - hardware_interface/VelocityJointInterface
       - hardware_interface/EffortJointInterface
+
+    NOTE: this value must correspond to the controller configured in the
+          controller .yaml files in the 'config' directory.
   -->
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
   <xacro:arg name="safety_limits" default="false"/>
@@ -54,14 +60,16 @@
     transmission_hw_interface="$(arg transmission_hw_interface)"
     safety_limits="$(arg safety_limits)"
     safety_pos_margin="$(arg safety_pos_margin)"
-    safety_k_position="$(arg safety_k_position)"/>
+    safety_k_position="$(arg safety_k_position)"
+  />
 
-  <!-- Attach the Gazebo model to Gazebo's world frame.
+  <!--
+    Attach the Gazebo model to Gazebo's world frame.
 
-       Note: if you're looking to integrate a UR into a larger scene and need
-       to add EEFs or other parts, DO NOT change this file or the 'world' link
-       here. Create a NEW xacro instead and decide whether you need to add
-       a 'world' link there.
+    Note: if you're looking to integrate a UR into a larger scene and need
+    to add EEFs or other parts, DO NOT change this file or the 'world' link
+    here. Create a NEW xacro instead and decide whether you need to add
+    a 'world' link there.
   -->
   <link name="world"/>
   <joint name="world_joint" type="fixed">
diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index d1ab948ca..2e32a2136 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -1,19 +1,55 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-
   <!--
-    Author: Ludovic Delval
-    Contributor: Felix Messmer, Kelsey Hawkins, Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
+    Main xacro macro definition of the "Gazebo robot" model.
+
+    This wraps the model of the real robot and adds all elements and parameters
+    required by Gazebo.
+
+    It also adds the gazebo_ros_control plugin.
+
+    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note: that .xacro must still be processed by the xacro command).
+
+    For use in '.launch' files: use one of the 'load_urX.launch' convenience
+    launch files.
+
+    NOTE: this Gazebo model makes use of the same set of parameter files as the
+    main xacro macro (in ur_description). It is therefor possible to use the
+    kinematic calibration exported from a REAL UR robot. Please refer to the
+    ur_macro.xacro in ur_description for more information about this.
+
+    Main author of the migration to yaml configs: Ludovic Delval.
+
+    Contributors to previous versions (in no particular order):
+
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Shaun Edwards
+     - Alexander Bubeck
+     - Nadia Hammoudeh Garcia
+     - G. vd. Hoorn
+     - Dave Niewinski
+     - Andy Zelenak
+     - Miguel Prada
+     - Mathias Luedtke
+     - Hans-Joachim Krauch
+     - Felix Exner
   -->
 
-  <!-- Import the xacro macro for the REAL robot (which we'll augment with
-       Gazebo-specific elements in the wrapper macro below).
 
-       Note: this imports the '_macro.xacro' from ur_description, as that
-       contains the definitions for the real robot.
+  <!--
+    Import the xacro macro for the REAL robot (which we'll augment with Gazebo
+    specific elements in the wrapper macro below).
+
+    NOTE: this imports the '_macro.xacro' from ur_description, as that contains
+    the definitions for the real robot.
   -->
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
+
+  <!-- Definition of the main macro -->
   <xacro:macro name="ur_robot_gazebo" params="
    prefix
    joint_limits_parameters_file
@@ -23,10 +59,7 @@
    transmission_hw_interface:=hardware_interface/PositionJointInterface
    safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
   >
-    <!-- Instantiate model for the REAL robot.
-
-         Add additional elements needed by Gazebo as well.
-    -->
+    <!-- Instantiate model for the REAL robot. -->
     <xacro:ur_robot
       prefix="${prefix}"
       joint_limits_parameters_file="${joint_limits_parameters_file}"
@@ -36,8 +69,10 @@
       transmission_hw_interface="${transmission_hw_interface}"
       safety_limits="${safety_limits}"
       safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"/>
+      safety_k_position="${safety_k_position}"
+    />
 
+    <!-- Configure self collision properties per link -->
     <gazebo reference="${prefix}shoulder_link">
       <selfCollide>true</selfCollide>
     </gazebo>
@@ -59,6 +94,11 @@
     <gazebo reference="${prefix}ee_link">
       <selfCollide>true</selfCollide>
     </gazebo>
+
+    <!--
+      Inject Gazebo ROS Control plugin, which allows us to use ros_control
+      controllers to control the virtual robot hw.
+    -->
     <gazebo>
       <plugin name="ros_control" filename="libgazebo_ros_control.so">
         <!--robotNamespace>/</robotNamespace-->

From 3f1f0347e656bac998e8f71b5f91664b40d6cf4a Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 30 Jun 2020 12:42:50 +0200
Subject: [PATCH 34/38] gazebo: move include to scope of ur_robot_gazebo macro.

Prevent potential clashes with symbols outside of that scope.
---
 ur_gazebo/urdf/ur_macro.xacro | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
index 2e32a2136..1f049c692 100644
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ b/ur_gazebo/urdf/ur_macro.xacro
@@ -39,16 +39,6 @@
   -->
 
 
-  <!--
-    Import the xacro macro for the REAL robot (which we'll augment with Gazebo
-    specific elements in the wrapper macro below).
-
-    NOTE: this imports the '_macro.xacro' from ur_description, as that contains
-    the definitions for the real robot.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
-
-
   <!-- Definition of the main macro -->
   <xacro:macro name="ur_robot_gazebo" params="
    prefix
@@ -59,6 +49,16 @@
    transmission_hw_interface:=hardware_interface/PositionJointInterface
    safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
   >
+    <!--
+      Import the xacro macro for the REAL robot (which we'll augment with Gazebo
+      specific elements in the wrapper macro below).
+
+      NOTE: this imports the '_macro.xacro' from ur_description, as that contains
+      the definitions for the real robot.
+    -->
+    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
+
     <!-- Instantiate model for the REAL robot. -->
     <xacro:ur_robot
       prefix="${prefix}"

From ea0b900e6ddb449383c8a6c28a182cbc0ca4481e Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 1 Jul 2020 10:52:19 +0200
Subject: [PATCH 35/38] gazebo: clarify we load a position joint trajectory
 controller.

So include that in the name.
---
 ur_gazebo/config/ur10_controllers.yaml     | 2 +-
 ur_gazebo/config/ur10e_controllers.yaml    | 2 +-
 ur_gazebo/config/ur16e_controllers.yaml    | 2 +-
 ur_gazebo/config/ur3_controllers.yaml      | 2 +-
 ur_gazebo/config/ur3e_controllers.yaml     | 2 +-
 ur_gazebo/config/ur5_controllers.yaml      | 2 +-
 ur_gazebo/config/ur5e_controllers.yaml     | 2 +-
 ur_gazebo/launch/inc/ur_control.launch.xml | 2 +-
 ur_gazebo/launch/ur10_bringup.launch       | 2 +-
 ur_gazebo/launch/ur10e_bringup.launch      | 2 +-
 ur_gazebo/launch/ur16e_bringup.launch      | 2 +-
 ur_gazebo/launch/ur3_bringup.launch        | 2 +-
 ur_gazebo/launch/ur3e_bringup.launch       | 2 +-
 ur_gazebo/launch/ur5_bringup.launch        | 2 +-
 ur_gazebo/launch/ur5e_bringup.launch       | 2 +-
 15 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml
index 62653afa8..7b6ab9c2c 100644
--- a/ur_gazebo/config/ur10_controllers.yaml
+++ b/ur_gazebo/config/ur10_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 125
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml
index 071a4913a..3599c8e7d 100644
--- a/ur_gazebo/config/ur10e_controllers.yaml
+++ b/ur_gazebo/config/ur10e_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 500
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml
index 071a4913a..3599c8e7d 100644
--- a/ur_gazebo/config/ur16e_controllers.yaml
+++ b/ur_gazebo/config/ur16e_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 500
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml
index 62653afa8..7b6ab9c2c 100644
--- a/ur_gazebo/config/ur3_controllers.yaml
+++ b/ur_gazebo/config/ur3_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 125
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml
index 071a4913a..3599c8e7d 100644
--- a/ur_gazebo/config/ur3e_controllers.yaml
+++ b/ur_gazebo/config/ur3e_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 500
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml
index 62653afa8..7b6ab9c2c 100644
--- a/ur_gazebo/config/ur5_controllers.yaml
+++ b/ur_gazebo/config/ur5_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 125
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml
index 071a4913a..3599c8e7d 100644
--- a/ur_gazebo/config/ur5e_controllers.yaml
+++ b/ur_gazebo/config/ur5e_controllers.yaml
@@ -2,7 +2,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: &loop_hz 500
 
-pos_traj_controller:
+pos_joint_traj_controller:
   type: position_controllers/JointTrajectoryController
   joints: &robot_joints
     - shoulder_pan_joint
diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml
index c30a3b0c4..d8b487fb7 100644
--- a/ur_gazebo/launch/inc/ur_control.launch.xml
+++ b/ur_gazebo/launch/inc/ur_control.launch.xml
@@ -17,7 +17,7 @@
 
   <!-- Parameters we share with ur_robot_driver -->
   <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller"/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller"/>
   <arg name="stopped_controllers" default="joint_group_pos_controller"/>
 
   <!-- Gazebo parameters -->
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
index 5d07a7a39..acd6c96fe 100644
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ b/ur_gazebo/launch/ur10_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
index 8ff46de79..7d39bda8c 100644
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ b/ur_gazebo/launch/ur10e_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
index 2e6a51ef0..d0f193ed6 100644
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ b/ur_gazebo/launch/ur16e_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
index 86c8e02e4..035d156db 100644
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ b/ur_gazebo/launch/ur3_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
index 985fba604..8e3ec545d 100644
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ b/ur_gazebo/launch/ur3e_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
index 6f33db7d7..bff4f9323 100644
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ b/ur_gazebo/launch/ur5_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
index 4106d4bb9..24c884a6c 100644
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ b/ur_gazebo/launch/ur5e_bringup.launch
@@ -39,7 +39,7 @@
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller pos_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- robot_state_publisher configuration -->

From 61a1aed2f0ef832a7d741706c478554eca6fac7d Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 1 Jul 2020 16:56:57 +0200
Subject: [PATCH 36/38] gazebo: list valid values for
 'transmission_hw_interface'.

For some reason this was not yet documented.
---
 ur_gazebo/launch/inc/load_ur.launch.xml    | 2 +-
 ur_gazebo/launch/inc/load_ur10.launch.xml  | 2 +-
 ur_gazebo/launch/inc/load_ur10e.launch.xml | 2 +-
 ur_gazebo/launch/inc/load_ur16e.launch.xml | 2 +-
 ur_gazebo/launch/inc/load_ur3.launch.xml   | 2 +-
 ur_gazebo/launch/inc/load_ur3e.launch.xml  | 2 +-
 ur_gazebo/launch/inc/load_ur5.launch.xml   | 2 +-
 ur_gazebo/launch/inc/load_ur5e.launch.xml  | 2 +-
 8 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml
index 254c82f36..b93d55603 100644
--- a/ur_gazebo/launch/inc/load_ur.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur.launch.xml
@@ -25,7 +25,7 @@
   <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
 
   <!--Common parameters  -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml
index 42eb123f6..dc2de3537 100644
--- a/ur_gazebo/launch/inc/load_ur10.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur10.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml
index 568b6c16c..65ee47278 100644
--- a/ur_gazebo/launch/inc/load_ur10e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur10e.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml
index 5b648003e..e0a8a17dc 100644
--- a/ur_gazebo/launch/inc/load_ur16e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur16e.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml
index 09e853a02..1128e1bdd 100644
--- a/ur_gazebo/launch/inc/load_ur3.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur3.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml
index 13cf424ff..f9555dfab 100644
--- a/ur_gazebo/launch/inc/load_ur3e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur3e.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml
index 8ddf9a0ae..d9b4dc10c 100644
--- a/ur_gazebo/launch/inc/load_ur5.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur5.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml
index 4b898a6f0..4ed014cff 100644
--- a/ur_gazebo/launch/inc/load_ur5e.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur5e.launch.xml
@@ -7,7 +7,7 @@
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
 
   <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
   <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

From be7d39210d91d2748859212a2e9f1c9cb5de4701 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 1 Jul 2020 16:57:28 +0200
Subject: [PATCH 37/38] gazebo: in-order is the default on Melodic.

And we've broken Kinetic-compatibility quite a few commits ago.
---
 ur_gazebo/launch/inc/load_ur.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml
index b93d55603..02efc2fb8 100644
--- a/ur_gazebo/launch/inc/load_ur.launch.xml
+++ b/ur_gazebo/launch/inc/load_ur.launch.xml
@@ -30,7 +30,7 @@
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
 
-  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro' --inorder
+  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro'
     joint_limit_params:=$(arg joint_limit_params)
     kinematics_params:=$(arg kinematics_params)
     physical_params:=$(arg physical_params)

From 467042b2dcbd707b57ac837bf4b80325dd4c8431 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 1 Jul 2020 16:58:24 +0200
Subject: [PATCH 38/38] gazebo: values less than 0.1 for spawn_z will be
 problematic.

So explain this in the arg's documentation.
---
 ur_gazebo/launch/inc/ur_control.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml
index d8b487fb7..b92f090d8 100644
--- a/ur_gazebo/launch/inc/ur_control.launch.xml
+++ b/ur_gazebo/launch/inc/ur_control.launch.xml
@@ -26,7 +26,7 @@
   <arg name="gui" default="true" doc="If true, Gazebo UI is started. If false, only start Gazebo server." />
   <arg name="paused" default="false" doc="If true, start Gazebo in paused mode. If false, start simulation as soon as Gazebo has loaded." />
   <arg name="robot_description_param_name" default="robot_description" doc="Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo." />
-  <arg name="spawn_z" default="0.1" doc="At which height the model should be spawned." />
+  <arg name="spawn_z" default="0.1" doc="At which height the model should be spawned. NOTE: lower values will cause the robot to collide with the ground plane." />
   <arg name="start_gazebo" default="true" doc="If true, Gazebo will be started. If false, Gazebo will be assumed to have been started elsewhere." />
 
   <!-- Load controller settings -->