From ddb817dbedd2f085d08a8da1ad24d4dfe8658448 Mon Sep 17 00:00:00 2001
From: giusebar <giuseppe@shadowrobot.com>
Date: Tue, 20 Jun 2017 14:59:52 +0100
Subject: [PATCH 1/6] Modify elbow limits

---
 ur_description/urdf/ur10.urdf.xacro | 2 +-
 ur_description/urdf/ur5.urdf.xacro  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 91dca4f97..014cca794 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -162,7 +162,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 8e2c2ac22..7363e74ce 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -171,7 +171,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>

From 1aabbeca126b9e4df82be6e2e668fb5c1ca3a4e1 Mon Sep 17 00:00:00 2001
From: Andriy Petlovanyy <andriy@noemail.com>
Date: Fri, 29 Mar 2019 10:15:44 +0000
Subject: [PATCH 2/6] Added support of ROS Melodic types

---
 ur_kinematics/src/ur_moveit_plugin.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ur_kinematics/src/ur_moveit_plugin.cpp b/ur_kinematics/src/ur_moveit_plugin.cpp
index 160558603..ccaba0c4b 100644
--- a/ur_kinematics/src/ur_moveit_plugin.cpp
+++ b/ur_kinematics/src/ur_moveit_plugin.cpp
@@ -175,9 +175,10 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,
 
   ros::NodeHandle private_handle("~");
   rdf_loader::RDFLoader rdf_loader(robot_description_);
-  const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();
-  const boost::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
 
+  const srdf::ModelSharedPtr &srdf = rdf_loader.getSRDF();
+  const urdf::ModelInterfaceSharedPtr &urdf_model = rdf_loader.getURDF();
+  
   if (!urdf_model || !srdf)
   {
     ROS_ERROR_NAMED("kdl","URDF and SRDF must be loaded for KDL kinematics solver to work.");

From 5871bb5a38674a35f0ae124f9513cf82dff3613a Mon Sep 17 00:00:00 2001
From: Andriy Petlovanyy <andriy@noemail.com>
Date: Tue, 2 Apr 2019 08:02:32 +0000
Subject: [PATCH 3/6] Removed plugins in ROS Melodic according to bug
 https://github.com/ros-planning/moveit/issues/1351

---
 ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
index d8bbf5a39..1d36f4f8c 100644
--- a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
+++ b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
@@ -94,8 +94,6 @@
 #include <kdl/chainiksolvervel_pinv.hpp>
 #include <kdl/chainiksolverpos_nr_jl.hpp>
 #include <kdl/chainfksolverpos_recursive.hpp>
-#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
-#include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>
 #include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
 
 // MoveIt!

From 1d61ac3ca09bd2e0c1add4fad5a5113f153071fa Mon Sep 17 00:00:00 2001
From: mikramarc <michal@shadowrobot.com>
Date: Mon, 3 Feb 2020 16:02:19 +0000
Subject: [PATCH 4/6] fixing deprecation messages

---
 ur10_moveit_config/config/kinematics.yaml | 2 --
 ur3_moveit_config/config/kinematics.yaml  | 2 --
 ur5_moveit_config/config/kinematics.yaml  | 2 --
 3 files changed, 6 deletions(-)

diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml
index e37d336c3..48a640a72 100644
--- a/ur10_moveit_config/config/kinematics.yaml
+++ b/ur10_moveit_config/config/kinematics.yaml
@@ -2,9 +2,7 @@
 #  kinematics_solver: ur_kinematics/UR10KinematicsPlugin
 #  kinematics_solver_search_resolution: 0.005
 #  kinematics_solver_timeout: 0.005
-#  kinematics_solver_attempts: 3
 manipulator:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
diff --git a/ur3_moveit_config/config/kinematics.yaml b/ur3_moveit_config/config/kinematics.yaml
index 7162d768c..dbc9ec0a9 100644
--- a/ur3_moveit_config/config/kinematics.yaml
+++ b/ur3_moveit_config/config/kinematics.yaml
@@ -2,9 +2,7 @@
 #  kinematics_solver: ur_kinematics/UR3KinematicsPlugin
 #  kinematics_solver_search_resolution: 0.005
 #  kinematics_solver_timeout: 0.005
-#  kinematics_solver_attempts: 3
 manipulator:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
diff --git a/ur5_moveit_config/config/kinematics.yaml b/ur5_moveit_config/config/kinematics.yaml
index e2fa9b157..f53faf21f 100644
--- a/ur5_moveit_config/config/kinematics.yaml
+++ b/ur5_moveit_config/config/kinematics.yaml
@@ -2,9 +2,7 @@
 #  kinematics_solver: ur_kinematics/UR5KinematicsPlugin
 #  kinematics_solver_search_resolution: 0.005
 #  kinematics_solver_timeout: 0.005
-#  kinematics_solver_attempts: 3
 manipulator:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3

From 036edf5a4617cbba82dbcd7e014a2588d46d725c Mon Sep 17 00:00:00 2001
From: mikramarc <michal@shadowrobot.com>
Date: Tue, 11 Feb 2020 14:24:21 +0000
Subject: [PATCH 5/6] reverting changes

---
 ur_description/urdf/ur10.urdf.xacro                    | 2 +-
 ur_description/urdf/ur5.urdf.xacro                     | 2 +-
 ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h | 2 ++
 ur_kinematics/src/ur_moveit_plugin.cpp                 | 5 ++---
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 014cca794..91dca4f97 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -162,7 +162,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 7363e74ce..8e2c2ac22 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -171,7 +171,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
diff --git a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
index 1d36f4f8c..0adb823b9 100644
--- a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
+++ b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
@@ -94,6 +94,8 @@
 #include <kdl/chainiksolvervel_pinv.hpp>
 #include <kdl/chainiksolverpos_nr_jl.hpp>
 #include <kdl/chainfksolverpos_recursive.hpp>
+#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>	
+#include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>
 #include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
 
 // MoveIt!
diff --git a/ur_kinematics/src/ur_moveit_plugin.cpp b/ur_kinematics/src/ur_moveit_plugin.cpp
index ccaba0c4b..a9e5e0b19 100644
--- a/ur_kinematics/src/ur_moveit_plugin.cpp
+++ b/ur_kinematics/src/ur_moveit_plugin.cpp
@@ -175,9 +175,8 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,
 
   ros::NodeHandle private_handle("~");
   rdf_loader::RDFLoader rdf_loader(robot_description_);
-
-  const srdf::ModelSharedPtr &srdf = rdf_loader.getSRDF();
-  const urdf::ModelInterfaceSharedPtr &urdf_model = rdf_loader.getURDF();
+  const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();	
+  const boost::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
   
   if (!urdf_model || !srdf)
   {

From c9b5351a38db03db002a9c44547f34662c1217b1 Mon Sep 17 00:00:00 2001
From: mikramarc <michal@shadowrobot.com>
Date: Tue, 11 Feb 2020 14:37:22 +0000
Subject: [PATCH 6/6] fixing

---
 ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h | 2 +-
 ur_kinematics/src/ur_moveit_plugin.cpp                 | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
index 0adb823b9..d8bbf5a39 100644
--- a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
+++ b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
@@ -94,7 +94,7 @@
 #include <kdl/chainiksolvervel_pinv.hpp>
 #include <kdl/chainiksolverpos_nr_jl.hpp>
 #include <kdl/chainfksolverpos_recursive.hpp>
-#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>	
+#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
 #include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>
 #include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
 
diff --git a/ur_kinematics/src/ur_moveit_plugin.cpp b/ur_kinematics/src/ur_moveit_plugin.cpp
index a9e5e0b19..160558603 100644
--- a/ur_kinematics/src/ur_moveit_plugin.cpp
+++ b/ur_kinematics/src/ur_moveit_plugin.cpp
@@ -175,9 +175,9 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,
 
   ros::NodeHandle private_handle("~");
   rdf_loader::RDFLoader rdf_loader(robot_description_);
-  const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();	
+  const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();
   const boost::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
-  
+
   if (!urdf_model || !srdf)
   {
     ROS_ERROR_NAMED("kdl","URDF and SRDF must be loaded for KDL kinematics solver to work.");