From 9d02ccadc8fb9b5cfeaf0d5b0c0c7708d2461447 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 29 Sep 2021 16:59:02 +0200
Subject: [PATCH] ur_description: Use the per-model xacro files for correct
 robot name (#588)

With the common xacro file the robot name will always be "ur".
However, the moveit config packages expect the robot name to be e.g. "ur10e".
This commit will use the macros containing the model name already.
---
 ur_description/launch/load_ur.launch    | 4 +++-
 ur_description/launch/load_ur10.launch  | 2 ++
 ur_description/launch/load_ur10e.launch | 2 ++
 ur_description/launch/load_ur16e.launch | 2 ++
 ur_description/launch/load_ur3.launch   | 2 ++
 ur_description/launch/load_ur3e.launch  | 2 ++
 ur_description/launch/load_ur5.launch   | 2 ++
 ur_description/launch/load_ur5e.launch  | 2 ++
 8 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch
index 3e459dd52..99e99a812 100644
--- a/ur_description/launch/load_ur.launch
+++ b/ur_description/launch/load_ur.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" />
+
   <!-- 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
@@ -28,7 +30,7 @@
        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_description)/urdf/ur.xacro'
+  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/$(arg robot_model).xacro'
     joint_limit_params:=$(arg joint_limit_params)
     kinematics_params:=$(arg kinematics_params)
     physical_params:=$(arg physical_params)
diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch
index 227efdd4e..6a6cc9811 100644
--- a/ur_description/launch/load_ur10.launch
+++ b/ur_description/launch/load_ur10.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur10" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch
index 6c72e0b62..3176cefa3 100644
--- a/ur_description/launch/load_ur10e.launch
+++ b/ur_description/launch/load_ur10e.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur10e" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch
index a633e4c1b..445131818 100644
--- a/ur_description/launch/load_ur16e.launch
+++ b/ur_description/launch/load_ur16e.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur16e" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch
index 395545f90..7be472376 100644
--- a/ur_description/launch/load_ur3.launch
+++ b/ur_description/launch/load_ur3.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur3" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch
index 2567cb95d..f314c98b8 100644
--- a/ur_description/launch/load_ur3e.launch
+++ b/ur_description/launch/load_ur3e.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur3e" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch
index aa5be93ae..597af189d 100644
--- a/ur_description/launch/load_ur5.launch
+++ b/ur_description/launch/load_ur5.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur5" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch
index b9368d1da..a080347e9 100644
--- a/ur_description/launch/load_ur5e.launch
+++ b/ur_description/launch/load_ur5e.launch
@@ -11,6 +11,8 @@
   <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" />
 
+  <arg name="robot_model" value="ur5e" />
+
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
 </launch>