diff --git a/README.md b/README.md
index be73ae28c..93a157273 100644
--- a/README.md
+++ b/README.md
@@ -92,7 +92,7 @@ Don't forget to source the correct setup shell files and use a new terminal for
 
 To bring up the simulated robot in Gazebo, run:
 
-```roslaunch ur_gazebo ur5_bringup.launch```
+```roslaunch ur_gazebo bringup.launch model:=ur5```
 
 
 ___MoveIt! with a simulated robot___
diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant
index a613a4fcc..812587597 100644
--- a/ur10_moveit_config/.setup_assistant
+++ b/ur10_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur10.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur10
   SRDF:
     relative_path: config/ur10.srdf
   CONFIG:
diff --git a/ur10_moveit_config/launch/planning_context.launch b/ur10_moveit_config/launch/planning_context.launch
index b3bd21211..ed598ff28 100644
--- a/ur10_moveit_config/launch/planning_context.launch
+++ b/ur10_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur10.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur10"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur10_moveit_config)/config/ur10.srdf" />
diff --git a/ur10e_moveit_config/.setup_assistant b/ur10e_moveit_config/.setup_assistant
index f2f266c98..06d7ab8c6 100644
--- a/ur10e_moveit_config/.setup_assistant
+++ b/ur10e_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur10e.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur10e
   SRDF:
     relative_path: config/ur10e.srdf
   CONFIG:
diff --git a/ur10e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch
index a0121a8de..fa22fc107 100644
--- a/ur10e_moveit_config/launch/planning_context.launch
+++ b/ur10e_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur10e.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur10e"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur10e_moveit_config)/config/ur10e.srdf" />
diff --git a/ur16e_moveit_config/.setup_assistant b/ur16e_moveit_config/.setup_assistant
index aa8aaae2c..769b83b4a 100644
--- a/ur16e_moveit_config/.setup_assistant
+++ b/ur16e_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur16e.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur16e
   SRDF:
     relative_path: config/ur16e.srdf
   CONFIG:
diff --git a/ur16e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch
index 2c61f888c..8f73d01d8 100644
--- a/ur16e_moveit_config/launch/planning_context.launch
+++ b/ur16e_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur16e.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur16e"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur16e_moveit_config)/config/ur16e.srdf" />
diff --git a/ur3_moveit_config/.setup_assistant b/ur3_moveit_config/.setup_assistant
index 92ffcddc0..f85632033 100644
--- a/ur3_moveit_config/.setup_assistant
+++ b/ur3_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur3.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur3
   SRDF:
     relative_path: config/ur3.srdf
   CONFIG:
diff --git a/ur3_moveit_config/launch/planning_context.launch b/ur3_moveit_config/launch/planning_context.launch
index 8356b2332..442b28b0b 100644
--- a/ur3_moveit_config/launch/planning_context.launch
+++ b/ur3_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur3.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur3"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur3_moveit_config)/config/ur3.srdf" />
diff --git a/ur3e_moveit_config/.setup_assistant b/ur3e_moveit_config/.setup_assistant
index ee6c9797c..98c84c75e 100644
--- a/ur3e_moveit_config/.setup_assistant
+++ b/ur3e_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur3e.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur3e
   SRDF:
     relative_path: config/ur3e.srdf
   CONFIG:
diff --git a/ur3e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch
index 49ef7dfeb..36cf273d2 100644
--- a/ur3e_moveit_config/launch/planning_context.launch
+++ b/ur3e_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur3e.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur3e"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur3e_moveit_config)/config/ur3e.srdf" />
diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant
index 12a72528d..4f333bdb9 100644
--- a/ur5_moveit_config/.setup_assistant
+++ b/ur5_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur5.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur5
   SRDF:
     relative_path: config/ur5.srdf
   CONFIG:
diff --git a/ur5_moveit_config/launch/planning_context.launch b/ur5_moveit_config/launch/planning_context.launch
index a2a3ebff4..192afba7c 100644
--- a/ur5_moveit_config/launch/planning_context.launch
+++ b/ur5_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur5.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur3"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur5_moveit_config)/config/ur5.srdf" />
diff --git a/ur5e_moveit_config/.setup_assistant b/ur5e_moveit_config/.setup_assistant
index 3fae5acd7..26974ff33 100644
--- a/ur5e_moveit_config/.setup_assistant
+++ b/ur5e_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur5e.xacro
-    xacro_args: ""
+    relative_path: urdf/ur.xacro
+    xacro_args: model:=ur5e
   SRDF:
     relative_path: config/ur5e.srdf
   CONFIG:
diff --git a/ur5e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch
index 9052fd96f..99d4d77c3 100644
--- a/ur5e_moveit_config/launch/planning_context.launch
+++ b/ur5e_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur5e.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find ur_description)/urdf/ur.xacro' model:=ur5e"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find ur5e_moveit_config)/config/ur5e.srdf" />
diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt
index 0cc1bd625..d97f35c66 100644
--- a/ur_description/CMakeLists.txt
+++ b/ur_description/CMakeLists.txt
@@ -1,20 +1,14 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(ur_description)
-
 find_package(catkin REQUIRED)
-
 catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_ur10.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_ur3.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_ur5.xml)
+  foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e)
+    roslaunch_add_file_check(launch/test.launch model=${model})
+  endforeach()
 endif()
 
-install(DIRECTORY cfg config launch meshes urdf
+install(DIRECTORY config launch meshes urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur_description/launch/load.launch b/ur_description/launch/load.launch
new file mode 100644
index 000000000..9a38eef92
--- /dev/null
+++ b/ur_description/launch/load.launch
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="model" doc="Type/series of used UR robot (ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e)"/>
+  <arg name="prefix" default="" doc="Prefix of robot name"/>
+
+  <!-- Parameter files -->
+  <arg name="joint_limit_params" default="" doc="YAML file containing the joint limit values"/>
+  <arg name="kinematics_params" default="" 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" default="" doc="YAML file containing the phycical parameters of the robots"/>
+  <arg name="visual_params" default="" doc="YAML file containing the visual model of the robots"/>
+
+  <!--Common parameters  -->
+  <arg name="transmission_hw_interface" default="" doc="The hardware_interface to expose for each joint in the simulated robot: position, velocity or effort"/>
+  <arg name="safety_limits" default="" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="" doc="The lower/upper limits in the safety controller"/>
+  <arg name="safety_k_position" default="" 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.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 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 '$(find ur_description)/urdf/ur.xacro'
+    model:=$(arg model)
+    prefix:=$(arg prefix)
+    joint_limit_params:=$(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_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch
deleted file mode 100644
index 20cba4fb7..000000000
--- a/ur_description/launch/load_ur.launch
+++ /dev/null
@@ -1,44 +0,0 @@
-<?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" />
-
-  <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
-       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 '$(find ur_description)/urdf/ur.xacro'
-    robot_model:=$(arg robot_model)
-    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_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch
deleted file mode 100644
index 6a6cc9811..000000000
--- a/ur_description/launch/load_ur10.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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" />
-
-  <arg name="robot_model" value="ur10" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
-</launch>
diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch
deleted file mode 100644
index 3176cefa3..000000000
--- a/ur_description/launch/load_ur10e.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--ur10e parameters files -->
-  <arg name="joint_limit_params" default="$(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="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
-  <!--common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <arg name="robot_model" value="ur10e" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(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
deleted file mode 100644
index 445131818..000000000
--- a/ur_description/launch/load_ur16e.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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" />
-
-  <arg name="robot_model" value="ur16e" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
-</launch>
diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch
deleted file mode 100644
index 7be472376..000000000
--- a/ur_description/launch/load_ur3.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--ur3 parameters files -->
-  <arg name="joint_limit_params" default="$(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="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
-  <!--common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <arg name="robot_model" value="ur3" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(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
deleted file mode 100644
index f314c98b8..000000000
--- a/ur_description/launch/load_ur3e.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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" />
-
-  <arg name="robot_model" value="ur3e" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
-</launch>
diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch
deleted file mode 100644
index 597af189d..000000000
--- a/ur_description/launch/load_ur5.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--ur5 parameters files -->
-  <arg name="joint_limit_params" default="$(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="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
-  <!--common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <arg name="robot_model" value="ur5" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(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
deleted file mode 100644
index a080347e9..000000000
--- a/ur_description/launch/load_ur5e.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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" />
-
-  <arg name="robot_model" value="ur5e" />
-
-  <!-- use common launch file and pass all arguments to it -->
-  <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>
-</launch>
diff --git a/ur_description/launch/test.launch b/ur_description/launch/test.launch
new file mode 100644
index 000000000..28823ccce
--- /dev/null
+++ b/ur_description/launch/test.launch
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="load_$(arg model)__">
+    <include file="$(dirname)/load.launch" pass_all_args="true"/>
+  </group>
+  <group ns="view_$(arg model)__">
+    <include file="$(dirname)/view.launch" pass_all_args="true"/>
+  </group>
+</launch>
+
diff --git a/ur_description/launch/view.launch b/ur_description/launch/view.launch
new file mode 100644
index 000000000..6493b5058
--- /dev/null
+++ b/ur_description/launch/view.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(dirname)/load.launch" pass_all_args="true"/>
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(dirname)/view.rviz" required="true"/>
+</launch>
+
diff --git a/ur_description/cfg/view_robot.rviz b/ur_description/launch/view.rviz
similarity index 100%
rename from ur_description/cfg/view_robot.rviz
rename to ur_description/launch/view.rviz
diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch
deleted file mode 100644
index cabdbf5a0..000000000
--- a/ur_description/launch/view_ur10.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur10.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch
deleted file mode 100644
index dc4c4e1b8..000000000
--- a/ur_description/launch/view_ur10e.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur10e.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch
deleted file mode 100644
index c9c604955..000000000
--- a/ur_description/launch/view_ur16e.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur16e.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch
deleted file mode 100644
index 96d5dd222..000000000
--- a/ur_description/launch/view_ur3.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur3.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch
deleted file mode 100644
index c0b9f67a3..000000000
--- a/ur_description/launch/view_ur3e.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur3e.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch
deleted file mode 100644
index 2428313a1..000000000
--- a/ur_description/launch/view_ur5.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur5.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch
deleted file mode 100644
index 1d1a08b76..000000000
--- a/ur_description/launch/view_ur5e.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find ur_description)/launch/load_ur5e.launch"/>
-
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur10.xml b/ur_description/tests/roslaunch_test_ur10.xml
deleted file mode 100644
index 7eb1d2b12..000000000
--- a/ur_description/tests/roslaunch_test_ur10.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur10__">
-    <include file="$(find ur_description)/launch/load_ur10.launch"/>
-  </group>
-
-  <group ns="view_ur10__">
-    <include file="$(find ur_description)/launch/view_ur10.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur10e.xml b/ur_description/tests/roslaunch_test_ur10e.xml
deleted file mode 100644
index 779de29f9..000000000
--- a/ur_description/tests/roslaunch_test_ur10e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur10e__">
-    <include file="$(find ur_description)/launch/load_ur10e.launch"/>
-  </group>
-
-  <group ns="view_ur10e__">
-    <include file="$(find ur_description)/launch/view_ur10e.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur16e.xml b/ur_description/tests/roslaunch_test_ur16e.xml
deleted file mode 100644
index ff7fc896d..000000000
--- a/ur_description/tests/roslaunch_test_ur16e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur16e__">
-    <include file="$(find ur_description)/launch/load_ur16e.launch"/>
-  </group>
-
-  <group ns="view_ur16e__">
-    <include file="$(find ur_description)/launch/view_ur16e.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur3.xml b/ur_description/tests/roslaunch_test_ur3.xml
deleted file mode 100644
index 365b093a1..000000000
--- a/ur_description/tests/roslaunch_test_ur3.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur3__">
-    <include file="$(find ur_description)/launch/load_ur3.launch"/>
-  </group>
-
-  <group ns="view_ur3__">
-    <include file="$(find ur_description)/launch/view_ur3.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur3e.xml b/ur_description/tests/roslaunch_test_ur3e.xml
deleted file mode 100644
index a2ffbe31b..000000000
--- a/ur_description/tests/roslaunch_test_ur3e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur3e__">
-    <include file="$(find ur_description)/launch/load_ur3e.launch"/>
-  </group>
-
-  <group ns="view_ur3e__">
-    <include file="$(find ur_description)/launch/view_ur3e.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur5.xml b/ur_description/tests/roslaunch_test_ur5.xml
deleted file mode 100644
index 15698ad70..000000000
--- a/ur_description/tests/roslaunch_test_ur5.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur5__">
-    <include file="$(find ur_description)/launch/load_ur5.launch"/>
-  </group>
-
-  <group ns="view_ur5__">
-    <include file="$(find ur_description)/launch/view_ur5.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/tests/roslaunch_test_ur5e.xml b/ur_description/tests/roslaunch_test_ur5e.xml
deleted file mode 100644
index ca0466995..000000000
--- a/ur_description/tests/roslaunch_test_ur5e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="load_ur5e__">
-    <include file="$(find ur_description)/launch/load_ur5e.launch"/>
-  </group>
-
-  <group ns="view_ur5e__">
-    <include file="$(find ur_description)/launch/view_ur5e.launch"/>
-  </group>
-</launch>
diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/common.xacro
similarity index 97%
rename from ur_description/urdf/inc/ur_common.xacro
rename to ur_description/urdf/common.xacro
index e841d912b..c106c87ea 100644
--- a/ur_description/urdf/inc/ur_common.xacro
+++ b/ur_description/urdf/common.xacro
@@ -10,15 +10,14 @@
   -->
   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
-      <mass value="${mass}" />
-      <xacro:insert_block name="origin" />
-      <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
-        iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
-        izz="${0.5 * mass * radius * radius}" />
+      <mass value="${mass}"/>
+      <xacro:insert_block name="origin"/>
+      <inertia ixx="${mass / 12 * (3 * radius**2 + length**2)}" ixy="0.0" ixz="0.0"
+               iyy="${mass / 12 * (3 * radius**2 + length**2)}" iyz="0.0"
+               izz="${mass / 2 * radius**2}"/>
     </inertial>
   </xacro:macro>
 
-
   <!--
     NOTE: this macro stores the defined properties in the scope of the caller.
           However, users MUST NOT rely on these properties, their contents or
@@ -38,9 +37,9 @@
     <xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
     <xacro:property name="sec_dh_parameters" value="${config_physical_parameters['dh_parameters']}"/>
     <xacro:property name="sec_offsets" value="${config_physical_parameters['offsets']}"/>
-    <xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
-    <xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" />
-    <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
+    <xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}"/>
+    <xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}"/>
+    <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}"/>
 
     <!-- JOINTS LIMIT PARAMETERS -->
     <xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan']['min_position']}" scope="parent"/>
diff --git a/ur_description/urdf/inc/ur10_macro.xacro b/ur_description/urdf/inc/ur10_macro.xacro
deleted file mode 100644
index 1e853659a..000000000
--- a/ur_description/urdf/inc/ur10_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR10.
-
-    This file can be used when composing a more complex scene with one or more
-    UR10 robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur10_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur10/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur10/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur10/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur10/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur10e_macro.xacro b/ur_description/urdf/inc/ur10e_macro.xacro
deleted file mode 100644
index fe0f0f265..000000000
--- a/ur_description/urdf/inc/ur10e_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR10e.
-
-    This file can be used when composing a more complex scene with one or more
-    UR10e robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur10e_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur10e/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur10e/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur10e/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur10e/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur16e_macro.xacro b/ur_description/urdf/inc/ur16e_macro.xacro
deleted file mode 100644
index 302d530aa..000000000
--- a/ur_description/urdf/inc/ur16e_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR16e.
-
-    This file can be used when composing a more complex scene with one or more
-    UR16e robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur16e_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur16e/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur16e/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur16e/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur16e/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur3_macro.xacro b/ur_description/urdf/inc/ur3_macro.xacro
deleted file mode 100644
index 5a569f5a8..000000000
--- a/ur_description/urdf/inc/ur3_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR3.
-
-    This file can be used when composing a more complex scene with one or more
-    UR3 robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur3_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur3/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur3/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur3/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur3/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur3e_macro.xacro b/ur_description/urdf/inc/ur3e_macro.xacro
deleted file mode 100644
index 4695c5ea5..000000000
--- a/ur_description/urdf/inc/ur3e_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR3e.
-
-    This file can be used when composing a more complex scene with one or more
-    UR3e robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur3e_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur3e/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur3e/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur3e/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur3e/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur5_macro.xacro b/ur_description/urdf/inc/ur5_macro.xacro
deleted file mode 100644
index 645b240c1..000000000
--- a/ur_description/urdf/inc/ur5_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR5.
-
-    This file can be used when composing a more complex scene with one or more
-    UR5 robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur5_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur5/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur5/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur5/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur5/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur5e_macro.xacro b/ur_description/urdf/inc/ur5e_macro.xacro
deleted file mode 100644
index 44cf92b3b..000000000
--- a/ur_description/urdf/inc/ur5e_macro.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    Convenience wrapper for the 'ur_robot' macro which provides default values
-    for the various "parameters files" parameters for a UR5e.
-
-    This file can be used when composing a more complex scene with one or more
-    UR5e robots.
-
-    While the generic 'ur_robot' macro could also be used, it would require
-    the user to provide values for all parameters, as that macro does not set
-    any model-specific defaults (not even for the generic parameters, such as
-    the visual and physical parameters and joint limits).
-
-    Refer to the main 'ur_macro.xacro' in this package for information about
-    use, contributors and limitations.
-
-    NOTE: users will most likely want to override *at least* the
-          'kinematics_parameters_file' parameter. Otherwise, a default kinematic
-          model will be used, which will almost certainly not correspond to any
-          real robot.
-  -->
-  <xacro:macro name="ur5e_robot" params="
-   prefix
-   joint_limits_parameters_file:='$(find ur_description)/config/ur5e/joint_limits.yaml'
-   kinematics_parameters_file:='$(find ur_description)/config/ur5e/default_kinematics.yaml'
-   physical_parameters_file:='$(find ur_description)/config/ur5e/physical_parameters.yaml'
-   visual_parameters_file:='$(find ur_description)/config/ur5e/visual_parameters.yaml'
-   transmission_hw_interface:=hardware_interface/PositionJointInterface
-   safety_limits:=false
-   safety_pos_margin:=0.15
-   safety_k_position:=20"
-  >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
-    <xacro:ur_robot
-      prefix="${prefix}"
-      joint_limits_parameters_file="${joint_limits_parameters_file}"
-      kinematics_parameters_file="${kinematics_parameters_file}"
-      physical_parameters_file="${physical_parameters_file}"
-      visual_parameters_file="${visual_parameters_file}"
-      transmission_hw_interface="${transmission_hw_interface}"
-      safety_limits="${safety_limits}"
-      safety_pos_margin="${safety_pos_margin}"
-      safety_k_position="${safety_k_position}"
-    />
-  </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/inc/ur_transmissions.xacro b/ur_description/urdf/inc/ur_transmissions.xacro
deleted file mode 100644
index fd44d69b9..000000000
--- a/ur_description/urdf/inc/ur_transmissions.xacro
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    NOTE: the macro defined in this file is NOT part of the public API of this
-          package. Users CANNOT rely on this file being available, or stored in
-          this location. Nor can they rely on the existence of the macro.
-  -->
-
-  <xacro:macro name="ur_arm_transmission" params="prefix hw_interface">
-
-    <transmission name="${prefix}shoulder_pan_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}shoulder_pan_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}shoulder_pan_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <transmission name="${prefix}shoulder_lift_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}shoulder_lift_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}shoulder_lift_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <transmission name="${prefix}elbow_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}elbow_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}elbow_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <transmission name="${prefix}wrist_1_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}wrist_1_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}wrist_1_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <transmission name="${prefix}wrist_2_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}wrist_2_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}wrist_2_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <transmission name="${prefix}wrist_3_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}wrist_3_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}wrist_3_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-  </xacro:macro>
-
-</robot>
diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/macro.xacro
similarity index 70%
rename from ur_description/urdf/inc/ur_macro.xacro
rename to ur_description/urdf/macro.xacro
index a78a5e38f..bd8a84d02 100644
--- a/ur_description/urdf/inc/ur_macro.xacro
+++ b/ur_description/urdf/macro.xacro
@@ -7,8 +7,8 @@
     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.
+    For use in '.launch' files: use the 'load.launch' convenience
+    launch file.
 
     This file models the base kinematic chain of a UR robot, which then gets
     parameterised by various configuration files to convert it into a UR3(e),
@@ -50,22 +50,55 @@
      - Ajit Krisshna N L
      - Muhammad Asif Rana
   -->
+  
+  <xacro:macro name="ur" params="
+    model:=^|''
+    prefix:=^|''
+    joint_limits_parameters_file:=^|''
+    kinematics_parameters_file:=^|''
+    physical_parameters_file:=^|''
+    visual_parameters_file:=^|''
+    transmission_hw_interface:=^|''
+    safety_limits:=^|''
+    safety_pos_margin:=^|''
+    safety_k_position:=^|''
+  ">
+  
+    <!-- Override empty parameters with default values to avoid having to re-specify them in parent files -->
+    <xacro:if value="${not joint_limits_parameters_file}">
+      <xacro:property name="joint_limits_parameters_file" value="$(find ur_description)/config/${model}/joint_limits.yaml"/>
+    </xacro:if>
+
+    <xacro:if value="${not kinematics_parameters_file}">
+      <xacro:property name="kinematics_parameters_file" value="$(find ur_description)/config/${model}/default_kinematics.yaml"/>
+    </xacro:if>
+
+    <xacro:if value="${not physical_parameters_file}">
+      <xacro:property name="physical_parameters_file" value="$(find ur_description)/config/${model}/physical_parameters.yaml"/>
+    </xacro:if>
+
+    <xacro:if value="${not visual_parameters_file}">
+      <xacro:property name="visual_parameters_file" value="$(find ur_description)/config/${model}/visual_parameters.yaml"/>
+    </xacro:if>
+
+    <xacro:if value="${not transmission_hw_interface}">
+      <xacro:property name="transmission_hw_interface" value="position"/>
+    </xacro:if>
+
+    <xacro:if value="${not safety_limits}">
+      <xacro:property name="safety_limits" value="false"/>
+    </xacro:if>
+
+    <xacro:if value="${not safety_pos_margin}">
+      <xacro:property name="safety_pos_margin" value="0.15"/>
+    </xacro:if>
+
+    <xacro:if value="${not safety_k_position}">
+      <xacro:property name="safety_k_position" value="20"/>
+    </xacro:if>
 
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" />
-
-  <xacro:macro name="ur_robot" 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"
-  >
     <!-- Load configuration data from the provided .yaml files -->
+    <xacro:include filename="$(find ur_description)/urdf/common.xacro"/>
     <xacro:read_model_data
       joint_limits_parameters_file="${joint_limits_parameters_file}" 
       kinematics_parameters_file="${kinematics_parameters_file}"
@@ -73,10 +106,21 @@
       visual_parameters_file="${visual_parameters_file}"/>
 
     <!-- Add URDF transmission elements (for ros_control) -->
-    <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
+    <xacro:include filename="$(find ur_description)/urdf/transmissions.xacro"/>
+    <xacro:ur_arm_transmission/>
 
-    <!-- links: main serial chain -->
+    <!-- Links: main serial chain -->
     <link name="${prefix}base_link"/>
+
+    <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
+    <link name="${prefix}base"/>
+    
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0"/>
+    
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+
     <link name="${prefix}base_link_inertia">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
@@ -94,9 +138,10 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${base_inertia_radius}" length="${base_inertia_length}" mass="${base_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
       </xacro:cylinder_inertial>
     </link>
+
     <link name="${prefix}shoulder_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
@@ -114,9 +159,10 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${shoulder_inertia_radius}" length="${shoulder_inertia_length}" mass="${shoulder_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
       </xacro:cylinder_inertial>
     </link>
+
     <link name="${prefix}upper_arm_link">
       <visual>
         <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
@@ -134,9 +180,10 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${upperarm_inertia_radius}" length="${upperarm_inertia_length}" mass="${upper_arm_mass}">
-        <origin xyz="${-0.5 * upperarm_inertia_length} 0.0 ${upper_arm_inertia_offset}" rpy="0 ${pi/2} 0" />
+        <origin xyz="${-0.5 * upperarm_inertia_length} 0.0 ${upper_arm_inertia_offset}" rpy="0 ${pi/2} 0"/>
       </xacro:cylinder_inertial>
     </link>
+
     <link name="${prefix}forearm_link">
       <visual>
         <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
@@ -154,9 +201,10 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${forearm_inertia_radius}" length="${forearm_inertia_length}"  mass="${forearm_mass}">
-        <origin xyz="${-0.5 * forearm_inertia_length} 0.0 ${elbow_offset}" rpy="0 ${pi/2} 0" />
+        <origin xyz="${-0.5 * forearm_inertia_length} 0.0 ${elbow_offset}" rpy="0 ${pi/2} 0"/>
       </xacro:cylinder_inertial>
     </link>
+
     <link name="${prefix}wrist_1_link">
       <visual>
         <!-- TODO: Move this to a parameter -->
@@ -175,9 +223,10 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${wrist_1_inertia_radius}" length="${wrist_1_inertia_length}"  mass="${wrist_1_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
       </xacro:cylinder_inertial>
     </link>
+
     <link name="${prefix}wrist_2_link">
       <visual>
         <origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/>
@@ -195,9 +244,10 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${wrist_2_inertia_radius}" length="${wrist_2_inertia_length}"  mass="${wrist_2_mass}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
       </xacro:cylinder_inertial>
     </link>
+
     <link name="${prefix}wrist_3_link">
       <visual>
         <origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/>
@@ -215,122 +265,106 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="${wrist_3_inertia_radius}" length="${wrist_3_inertia_length}"  mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 ${-0.5 * wrist_3_inertia_length}" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 ${-0.5 * wrist_3_inertia_length}" rpy="0 0 0"/>
       </xacro:cylinder_inertial>
     </link>
 
-    <!-- joints: main serial chain -->
-    <joint name="${prefix}base_link-base_link_inertia" type="fixed">
-      <parent link="${prefix}base_link" />
-      <child link="${prefix}base_link_inertia" />
-      <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
-           frames of the robot/controller have X+ pointing backwards.
-           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
-           link/frame) to introduce the necessary rotation over Z (of pi rad).
-      -->
-      <origin xyz="0 0 0" rpy="0 0 ${pi}" />
-    </joint>
+    <!-- Joints: main serial chain -->
+    <xacro:macro name="joint_fixed" params="parent child rpy:='0 0 ${pi}' prefix:=^">
+      <joint name="${prefix}${parent}-${child}" type="fixed">
+        <parent link="${prefix}${parent}"/>
+        <child link="${prefix}${child}"/>
+        <origin xyz="0 0 0" rpy="${rpy}"/>
+      </joint>
+    </xacro:macro>
+
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+         frames of the robot/controller have X+ pointing backwards.
+         Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+         link/frame) to introduce the necessary rotation over Z (of pi rad). -->
+    <xacro:joint_fixed parent="base_link" child="base_link_inertia"/>
+
+    <!-- Note the rotation over Z of pi radians: as base_link is REP-103
+         aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
+         to correctly align 'base' with the 'Base' coordinate system of
+         the UR controller. -->
+    <xacro:joint_fixed parent="base_link" child="base"/>
+    
+    <xacro:joint_fixed parent="wrist_3_link" child="flange" rpy="0 ${-pi/2} ${-pi/2}"/>
+
+    <!-- default toolframe: X+ left, Y+ up, Z+ front -->
+    <xacro:joint_fixed parent="flange" child="tool0" rpy="${pi/2} 0 ${pi/2}"/>
+
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
-      <parent link="${prefix}base_link_inertia" />
-      <child link="${prefix}shoulder_link" />
-      <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
-      <axis xyz="0 0 1" />
+      <parent link="${prefix}base_link_inertia"/>
+      <child link="${prefix}shoulder_link"/>
+      <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}"/>
+      <axis xyz="0 0 1"/>
       <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
         effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
     </joint>
+
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
-      <parent link="${prefix}shoulder_link" />
-      <child link="${prefix}upper_arm_link" />
-      <origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}" />
-      <axis xyz="0 0 1" />
+      <parent link="${prefix}shoulder_link"/>
+      <child link="${prefix}upper_arm_link"/>
+      <origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}"/>
+      <axis xyz="0 0 1"/>
       <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"
         effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/>
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
     </joint>
+
     <joint name="${prefix}elbow_joint" type="revolute">
-      <parent link="${prefix}upper_arm_link" />
-      <child link="${prefix}forearm_link" />
-      <origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" />
-      <axis xyz="0 0 1" />
+      <parent link="${prefix}upper_arm_link"/>
+      <child link="${prefix}forearm_link"/>
+      <origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}"/>
+      <axis xyz="0 0 1"/>
       <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"
         effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/>
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
     </joint>
+
     <joint name="${prefix}wrist_1_joint" type="revolute">
-      <parent link="${prefix}forearm_link" />
-      <child link="${prefix}wrist_1_link" />
-      <origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" />
-      <axis xyz="0 0 1" />
+      <parent link="${prefix}forearm_link"/>
+      <child link="${prefix}wrist_1_link"/>
+      <origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}"/>
+      <axis xyz="0 0 1"/>
       <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"
         effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/>
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
     </joint>
+
     <joint name="${prefix}wrist_2_joint" type="revolute">
-      <parent link="${prefix}wrist_1_link" />
-      <child link="${prefix}wrist_2_link" />
-      <origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" />
-      <axis xyz="0 0 1" />
+      <parent link="${prefix}wrist_1_link"/>
+      <child link="${prefix}wrist_2_link"/>
+      <origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}"/>
+      <axis xyz="0 0 1"/>
       <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"
              effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/>
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
     </joint>
+
     <joint name="${prefix}wrist_3_joint" type="revolute">
-      <parent link="${prefix}wrist_2_link" />
-      <child link="${prefix}wrist_3_link" />
-      <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" />
-      <axis xyz="0 0 1" />
+      <parent link="${prefix}wrist_2_link"/>
+      <child link="${prefix}wrist_3_link"/>
+      <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}"/>
+      <axis xyz="0 0 1"/>
       <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"
              effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/>
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
-    </joint>
-
-    <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
-    <link name="${prefix}base"/>
-    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
-      <!-- Note the rotation over Z of pi radians: as base_link is REP-103
-           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
-           to correctly align 'base' with the 'Base' coordinate system of
-           the UR controller.
-      -->
-      <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-      <parent link="${prefix}base_link"/>
-      <child link="${prefix}base"/>
-    </joint>
-
-    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
-    <link name="${prefix}flange" />
-    <joint name="${prefix}wrist_3-flange" type="fixed">
-      <parent link="${prefix}wrist_3_link" />
-      <child link="${prefix}flange" />
-      <origin xyz="0 0 0" rpy="0 ${-pi/2.0} ${-pi/2.0}" />
-    </joint>
-
-    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-    <link name="${prefix}tool0"/>
-    <joint name="${prefix}flange-tool0" type="fixed">
-      <!-- default toolframe: X+ left, Y+ up, Z+ front -->
-      <origin xyz="0 0 0" rpy="${pi/2.0} 0 ${pi/2.0}"/>
-      <parent link="${prefix}flange"/>
-      <child link="${prefix}tool0"/>
     </joint>
   </xacro:macro>
 </robot>
diff --git a/ur_description/urdf/transmissions.xacro b/ur_description/urdf/transmissions.xacro
new file mode 100644
index 000000000..6182b0aac
--- /dev/null
+++ b/ur_description/urdf/transmissions.xacro
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    NOTE: the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+  <xacro:macro name="ur_arm_transmission" params="prefix:=^|'' transmission_hw_interface:=^|''">
+    <!-- transmission_hw_interface only has to contain parts of position (default), velocity or effort -->
+    <xacro:if value="${'e' in transmission_hw_interface.lower()}">
+      <xacro:property name="transmission_hw_interface" value="hardware_interface/EffortJointInterface"/>
+    </xacro:if>
+
+    <xacro:if value="${'v' in transmission_hw_interface.lower()}">
+      <xacro:property name="transmission_hw_interface" value="hardware_interface/VelocityJointInterface"/>
+    </xacro:if>
+
+    <xacro:if value="${'p' in transmission_hw_interface.lower() or not transmission_hw_interface}">
+      <xacro:property name="transmission_hw_interface" value="hardware_interface/PositionJointInterface"/>
+    </xacro:if>
+    
+    <xacro:macro name="transmission" params="joint prefix:=^ transmission_hw_interface:=^">
+      <transmission name="${prefix}${joint}_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}${joint}_joint">
+          <hardwareInterface>${transmission_hw_interface}</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}${joint}_motor"/>
+      </transmission>
+    </xacro:macro>
+
+    <xacro:transmission joint="shoulder_pan"/>
+    <xacro:transmission joint="shoulder_lift"/>
+    <xacro:transmission joint="elbow"/>
+    <xacro:transmission joint="wrist_1"/>
+    <xacro:transmission joint="wrist_2"/>
+    <xacro:transmission joint="wrist_3"/>
+  </xacro:macro>
+</robot>
diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
index cbcffab2a..9a85ca840 100644
--- a/ur_description/urdf/ur.xacro
+++ b/ur_description/urdf/ur.xacro
@@ -1,33 +1,31 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)_robot">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg model)_robot">
+  <!-- Parameters -->
+  <xacro:arg name="model" default=""/> <!-- ur3, ur3e, ur5, ur5e, ur10, ur10e or ur16e -->
+  <xacro:arg name="prefix" default=""/>
+  <xacro:arg name="joint_limit_params" default=""/>
+  <xacro:arg name="kinematics_params" default=""/>
+  <xacro:arg name="physical_params" default=""/>
+  <xacro:arg name="visual_params" default=""/>
+  <xacro:arg name="transmission_hw_interface" default=""/> <!-- position, velocity or effort -->
+  <xacro:arg name="safety_limits" default=""/>
+  <xacro:arg name="safety_pos_margin" default=""/>
+  <xacro:arg name="safety_k_position" default=""/>
 
-   <!-- import main macro -->
-   <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+  <!-- Import macro -->
+  <xacro:include filename="$(find ur_description)/urdf/macro.xacro"/>
 
-   <!-- parameters -->
-   <xacro:arg name="joint_limit_params" default=""/>
-   <xacro:arg name="kinematics_params" default=""/>
-   <xacro:arg name="physical_params" default=""/>
-   <xacro:arg name="visual_params" default=""/>
-   <!-- 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"/>
-
-   <!-- arm -->
-   <xacro:ur_robot
-     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)"/>
+  <!-- Call macro -->
+  <xacro:ur
+    model="$(arg model)"
+    prefix="$(arg 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)"
+  />
 </robot>
diff --git a/ur_description/urdf/ur10.xacro b/ur_description/urdf/ur10.xacro
deleted file mode 100644
index 11b254ed7..000000000
--- a/ur_description/urdf/ur10.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur10_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR10
-    which defines the default values for the various "parameters files"
-    parameters for a UR10.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur10_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur10_macro.xacro"/>
-  <xacro:ur10_robot prefix="" />
-</robot>
diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro
deleted file mode 100644
index 837b08d7a..000000000
--- a/ur_description/urdf/ur10e.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur10e_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR10e
-    which defines the default values for the various "parameters files"
-    parameters for a UR10e.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur10e_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur10e_macro.xacro"/>
-  <xacro:ur10e_robot prefix="" />
-</robot>
diff --git a/ur_description/urdf/ur16e.xacro b/ur_description/urdf/ur16e.xacro
deleted file mode 100644
index a79d11a43..000000000
--- a/ur_description/urdf/ur16e.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur16e_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR16e
-    which defines the default values for the various "parameters files"
-    parameters for a UR16e.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur16e_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur16e_macro.xacro"/>
-  <xacro:ur16e_robot prefix="" />
-</robot>
diff --git a/ur_description/urdf/ur3.xacro b/ur_description/urdf/ur3.xacro
deleted file mode 100644
index 1d025ab70..000000000
--- a/ur_description/urdf/ur3.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur3_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR3
-    which defines the default values for the various "parameters files"
-    parameters for a UR3.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur3_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur3_macro.xacro"/>
-  <xacro:ur3_robot prefix="" />
-</robot>
diff --git a/ur_description/urdf/ur3e.xacro b/ur_description/urdf/ur3e.xacro
deleted file mode 100644
index f4f8cae17..000000000
--- a/ur_description/urdf/ur3e.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur3e_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR3e
-    which defines the default values for the various "parameters files"
-    parameters for a UR3e.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur3e_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur3e_macro.xacro"/>
-  <xacro:ur3e_robot prefix="" />
-</robot>
diff --git a/ur_description/urdf/ur5.xacro b/ur_description/urdf/ur5.xacro
deleted file mode 100644
index ce69dc6ab..000000000
--- a/ur_description/urdf/ur5.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR5e
-    which defines the default values for the various "parameters files"
-    parameters for a UR5e.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro.xacro"/>
-  <xacro:ur5_robot prefix="" />
-</robot>
diff --git a/ur_description/urdf/ur5e.xacro b/ur_description/urdf/ur5e.xacro
deleted file mode 100644
index f71216e68..000000000
--- a/ur_description/urdf/ur5e.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5e_robot">
-  <!--
-    This is a convenience top-level xacro which loads the macro for the UR5e
-    which defines the default values for the various "parameters files"
-    parameters for a UR5e.
-
-    This file is only useful when loading a stand-alone, completely isolated
-    robot with only default values for all parameters such as the kinematics,
-    visual and physical parameters and joint limits.
-
-    This file is not intended to be integrated into a larger scene or other
-    composite xacro.
-
-    Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaults
-    for the arguments to that macro.
-
-    Refer to 'inc/ur_macro.xacro' for more information.
-  -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur5e_macro.xacro"/>
-  <xacro:ur5e_robot prefix="" />
-</robot>
diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt
index c74e7b36e..f3ce1e7c2 100644
--- a/ur_gazebo/CMakeLists.txt
+++ b/ur_gazebo/CMakeLists.txt
@@ -1,21 +1,14 @@
 cmake_minimum_required(VERSION 3.0.2)
-
 project(ur_gazebo)
-
 find_package(catkin REQUIRED)
-
 catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  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)
+  foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e)
+    roslaunch_add_file_check(launch/test.launch model=${model})
+  endforeach()
 endif()
 
-install(DIRECTORY config launch urdf
+install(DIRECTORY controllers launch urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/controllers/ur10.yaml
similarity index 100%
rename from ur_gazebo/config/ur10_controllers.yaml
rename to ur_gazebo/controllers/ur10.yaml
diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/controllers/ur10e.yaml
similarity index 100%
rename from ur_gazebo/config/ur10e_controllers.yaml
rename to ur_gazebo/controllers/ur10e.yaml
diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/controllers/ur16e.yaml
similarity index 100%
rename from ur_gazebo/config/ur16e_controllers.yaml
rename to ur_gazebo/controllers/ur16e.yaml
diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/controllers/ur3.yaml
similarity index 100%
rename from ur_gazebo/config/ur3_controllers.yaml
rename to ur_gazebo/controllers/ur3.yaml
diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/controllers/ur3e.yaml
similarity index 100%
rename from ur_gazebo/config/ur3e_controllers.yaml
rename to ur_gazebo/controllers/ur3e.yaml
diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/controllers/ur5.yaml
similarity index 100%
rename from ur_gazebo/config/ur5_controllers.yaml
rename to ur_gazebo/controllers/ur5.yaml
diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/controllers/ur5e.yaml
similarity index 100%
rename from ur_gazebo/config/ur5e_controllers.yaml
rename to ur_gazebo/controllers/ur5e.yaml
diff --git a/ur_gazebo/launch/bringup.launch b/ur_gazebo/launch/bringup.launch
new file mode 100644
index 000000000..49d277b5b
--- /dev/null
+++ b/ur_gazebo/launch/bringup.launch
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<launch>
+  <!--
+    Main entry point for loading a single $(arg model) into Gazebo, in isolation, in the
+    empty world.
+
+    A set of ros_control controllers similar to those loaded by ur_robot_driver
+    will be loaded by 'control.launch' (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 $(arg model). 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 $(arg model) with other models into a more
+    complex simulation should NOT modify this file. Instead, if it would be
+    desirable to reuse this file with a custom simulation, they should create a
+    copy and update this copy so as to accomodate required changes.
+
+    In those cases, treat this file as an example, showing one way how a Gazebo
+    simulation for UR robots *could* be launched. It is not necessary to mimic
+    this setup completely.
+  -->
+
+  <!-- robot_state_publisher configuration -->
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="publish_frequency" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>
+
+  <!-- Load robot_description on the parameter server -->
+  <include file="$(dirname)/load.launch" pass_all_args="true"/>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="tf_prefix" value="$(arg tf_prefix)"/>
+    <param name="publish_frequency" type="double" value="$(arg publish_frequency)"/>
+  </node>
+
+  <!-- Start the 'driver' (ie: Gazebo in this case) -->
+  <include file="$(dirname)/control.launch" pass_all_args="true"/>
+</launch>
diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/control.launch
similarity index 54%
rename from ur_gazebo/launch/inc/ur_control.launch.xml
rename to ur_gazebo/launch/control.launch
index 3d93c6d66..15cb5dc25 100644
--- a/ur_gazebo/launch/inc/ur_control.launch.xml
+++ b/ur_gazebo/launch/control.launch
@@ -16,44 +16,47 @@
   -->
 
   <!-- 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 eff_joint_traj_controller"/>
-  <arg name="stopped_controllers" default="joint_group_eff_controller"/>
+  <arg name="controller_config_file" default="$(find ur_gazebo)/controllers/$(arg model).yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>
 
   <!-- Gazebo parameters -->
-  <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. 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." />
+  <arg name="world_name" default="worlds/empty.world" doc="The '.world' file to load in Gazebo."/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0.1 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at. NOTE: lower heights will cause the robot to collide with the ground plane."/>
+  <arg name="initial_joint_positions" default=" -J elbow_joint 0 -J shoulder_lift_joint 0 -J shoulder_pan_joint 0 -J wrist_1_joint 0 -J wrist_2_joint 0 -J wrist_3_joint 0" doc="Initial joint configuration of the robot"/>
+  <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="gazebo_model_name" default="$(arg model)" doc="The name to give to the model in Gazebo (after spawning it)."/>
+  <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="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 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="$(arg gui)"/>
+  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true" if="$(arg start_gazebo)">
+    <arg name="paused" value="true"/>
   </include>
 
+  <!-- Unpause the simulation after loading the robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+
   <!-- Spawn the model loaded earlier in the simulation just started -->
   <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
     args="
       -urdf
       -param $(arg robot_description_param_name)
-      -model $(arg gazebo_model_name)
-      -z $(arg spawn_z)"
-    output="screen" respawn="false" />
+      $(arg unpause)
+      $(arg world_pose)
+      $(arg initial_joint_positions)
+      -model $(arg gazebo_model_name)"
+    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="$(arg controllers)" output="screen" respawn="false" />
+    args="$(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" />
-
+    args="--stopped $(arg stopped_controllers)" output="screen" respawn="false"/>
 </launch>
diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml
deleted file mode 100644
index 3828d0777..000000000
--- a/ur_gazebo/launch/inc/load_ur.launch.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- 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.
-  -->
-
-  <arg name="robot_model" doc="Type/series of used UR robot (ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e)" />
-
-  <!--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/EffortJointInterface" 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" />
-
-  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro'
-    robot_model:=$(arg robot_model)
-    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/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml
deleted file mode 100644
index a5f6c0162..000000000
--- a/ur_gazebo/launch/inc/load_ur10.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--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 -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" 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" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur10" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml
deleted file mode 100644
index 9acf8ffc6..000000000
--- a/ur_gazebo/launch/inc/load_ur10e.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--Parameter files -->
-  <arg name="joint_limit_params" default="$(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="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
-
-  <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur10e" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml
deleted file mode 100644
index 8c79bd9c9..000000000
--- a/ur_gazebo/launch/inc/load_ur16e.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--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 -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" 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" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur16e" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml
deleted file mode 100644
index beb2de095..000000000
--- a/ur_gazebo/launch/inc/load_ur3.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--Parameter files -->
-  <arg name="joint_limit_params" default="$(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="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
-
-  <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur3" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml
deleted file mode 100644
index 95eb214ed..000000000
--- a/ur_gazebo/launch/inc/load_ur3e.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--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 -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" 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" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur3e" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml
deleted file mode 100644
index 1bc482b6e..000000000
--- a/ur_gazebo/launch/inc/load_ur5.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--Parameter files -->
-  <arg name="joint_limit_params" default="$(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="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
-
-  <!--Common parameters -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
-  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
-  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
-  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur5" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml
deleted file mode 100644
index 72f7f9cac..000000000
--- a/ur_gazebo/launch/inc/load_ur5e.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--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 -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" 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" />
-
-  <!-- Use common launch file and pass all arguments to it -->
-  <include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
-    <arg name="robot_model" value="ur5e" />
-  </include>
-</launch>
diff --git a/ur_gazebo/launch/load.launch b/ur_gazebo/launch/load.launch
new file mode 100644
index 000000000..1c64240c2
--- /dev/null
+++ b/ur_gazebo/launch/load.launch
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- 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 ur robot
+       onto the ROS parameter server, provide paths to the .yaml files which
+       contain the limits, kinematics, physical and visual parameters which
+       together describe a ur robot).
+
+       NOTE: users will typically want to use use one of the other .launch files
+       in this directory (ie: 'load.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 macro.xacro file into it. Then write a new .launch file
+       to load it onto the parameter server.
+  -->
+
+  <arg name="model" doc="Type/series of used UR robot (ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e)"/>
+  <arg name="prefix" default="" doc="Prefix of robot name"/>
+
+  <!-- Parameter files -->
+  <arg name="joint_limit_params" default="" doc="YAML file containing the joint limit values"/>
+  <arg name="kinematics_params" default="" 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" default="" doc="YAML file containing the phycical parameters of the robots"/>
+  <arg name="visual_params" default="" doc="YAML file containing the visual model of the robots"/>
+
+  <!--Common parameters  -->
+  <arg name="transmission_hw_interface" default="" doc="The hardware_interface to expose for each joint in the simulated robot: position, velocity or effort"/>
+  <arg name="safety_limits" default="" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="" doc="The lower/upper limits in the safety controller"/>
+  <arg name="safety_k_position" default="" doc="Used to set k position in the safety controller"/>
+
+  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro'
+    model:=$(arg model)
+    prefix:=$(arg prefix)
+    joint_limit_params:=$(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:=$(arg safety_k_position)
+  "/>
+</launch>
diff --git a/ur_gazebo/launch/test.launch b/ur_gazebo/launch/test.launch
new file mode 100644
index 000000000..d77c8829f
--- /dev/null
+++ b/ur_gazebo/launch/test.launch
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="load_$(arg model)__">
+    <include file="$(dirname)/load.launch" pass_all_args="true"/>
+  </group>
+  <group ns="bringup_$(arg model)__">
+    <include file="$(dirname)/bringup.launch" pass_all_args="true"/>
+  </group>
+</launch>
+
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
deleted file mode 100644
index 5102f8230..000000000
--- a/ur_gazebo/launch/ur10_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR10 into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>
-
-  <!-- robot_state_publisher configuration -->
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>
-
-  <!-- Gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
-
-  <!-- Load urdf on the parameter server -->
-  <include file="$(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="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(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="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- 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
deleted file mode 100644
index 177d8e59e..000000000
--- a/ur_gazebo/launch/ur10e_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR10e into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_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)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-  </include>
-
-  <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- Start the 'driver' (ie: Gazebo in this case) -->
-  <include file="$(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
deleted file mode 100644
index a2018ff7c..000000000
--- a/ur_gazebo/launch/ur16e_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR16e into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>
-
-  <!-- robot_state_publisher configuration -->
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
-
-  <!-- Gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
-
-  <!-- Load urdf on the parameter server -->
-  <include file="$(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="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(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="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- 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
deleted file mode 100644
index 6f22a1d71..000000000
--- a/ur_gazebo/launch/ur3_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR3 into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_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)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-  </include>
-
-  <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- Start the 'driver' (ie: Gazebo in this case) -->
-  <include file="$(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
deleted file mode 100644
index 93cec225f..000000000
--- a/ur_gazebo/launch/ur3e_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR3e into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>
-
-  <!-- robot_state_publisher configuration -->
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
-
-  <!-- Gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
-
-  <!-- Load urdf on the parameter server -->
-  <include file="$(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="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(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="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- 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
deleted file mode 100644
index f4edf3307..000000000
--- a/ur_gazebo/launch/ur5_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR5 into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_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)"/>
-    <arg name="visual_params" value="$(arg visual_params)"/>
-  </include>
-
-  <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- Start the 'driver' (ie: Gazebo in this case) -->
-  <include file="$(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
deleted file mode 100644
index 4dcf940c5..000000000
--- a/ur_gazebo/launch/ur5e_bringup.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-    Main entry point for loading a single UR5e into Gazebo, in isolation, in the
-    empty world.
-
-    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.
-  -->
-
-  <!--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"/>
-
-  <!-- Controller configuration -->
-  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>
-
-  <!-- robot_state_publisher configuration -->
-  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/>
-
-  <!-- Gazebo parameters -->
-  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts Gazebo gui" />
-
-  <!-- Load urdf on the parameter server -->
-  <include file="$(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="$(arg physical_params)"/>
-    <arg name="visual_params" value="$(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="$(arg tf_pub_rate)" />
-    <param name="tf_prefix" value="$(arg tf_prefix)" />
-  </node>
-
-  <!-- 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/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml
deleted file mode 100644
index 02e6458c7..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur10.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur10__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur10.launch.xml"/>
-  </group>
-
-  <group ns="ur10_bringup__">
-    <include file="$(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
deleted file mode 100644
index 8443ef3d4..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur10e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur10e__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur10e.launch.xml"/>
-  </group>
-
-  <group ns="ur10e_bringup__">
-    <include file="$(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
deleted file mode 100644
index 566e1f1cd..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur16e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur16e__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur16e.launch.xml"/>
-  </group>
-
-  <group ns="ur16e_bringup__">
-    <include file="$(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
deleted file mode 100644
index d9c9c148d..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur3.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur3__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur3.launch.xml"/>
-  </group>
-
-  <group ns="ur3_bringup__">
-    <include file="$(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
deleted file mode 100644
index 4a10cd48f..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur3e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur3e__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur3e.launch.xml"/>
-  </group>
-
-  <group ns="ur3e_bringup__">
-    <include file="$(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
deleted file mode 100644
index dae9deae7..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur5.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur5__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur5.launch.xml"/>
-  </group>
-
-  <group ns="ur5_bringup__">
-    <include file="$(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
deleted file mode 100644
index 0cf392035..000000000
--- a/ur_gazebo/tests/roslaunch_test_ur5e.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur5e__">
-    <include file="$(find ur_gazebo)/launch/inc/load_ur5e.launch.xml"/>
-  </group>
-
-  <group ns="ur5e_bringup__">
-    <include file="$(find ur_gazebo)/launch/ur5e_bringup.launch"/>
-  </group>
-</launch>
diff --git a/ur_gazebo/urdf/macro.xacro b/ur_gazebo/urdf/macro.xacro
new file mode 100644
index 000000000..4ec80b814
--- /dev/null
+++ b/ur_gazebo/urdf/macro.xacro
@@ -0,0 +1,94 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    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 the 'load.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
+    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
+  -->
+
+  <!-- Definition of the main macro -->
+  <xacro:macro name="ur_gazebo" params="
+    model:=^|''
+    prefix:=^|''
+    joint_limits_parameters_file:=^|''
+    kinematics_parameters_file:=^|''
+    physical_parameters_file:=^|''
+    visual_parameters_file:=^|''
+    transmission_hw_interface:=^|''
+    safety_limits:=^|''
+    safety_pos_margin:=^|''
+    safety_k_position:=^|''
+  ">
+    <xacro:if value="${not transmission_hw_interface}">
+      <xacro:property name="transmission_hw_interface" value="effort"/>
+    </xacro:if>
+    
+    <!--
+      Import the xacro macro for the REAL robot (which we'll augment with Gazebo
+      specific elements in the wrapper macro below).
+
+      NOTE: this imports the 'macro.xacro' from ur_description, as that contains
+      the definitions for the real robot.
+    -->
+    <xacro:include filename="$(find ur_description)/urdf/macro.xacro"/>
+
+    <!-- Instantiate model for the REAL robot. -->
+    <xacro:ur/>
+
+    <!-- Gazebo properties of each link -->
+    <xacro:macro name="reference" params="link">
+      <gazebo reference="${prefix}${link}">
+         <selfCollide>true</selfCollide>
+      </gazebo>
+    </xacro:macro>
+	
+    <xacro:reference link="shoulder_link"/>
+    <xacro:reference link="upper_arm_link"/>
+    <xacro:reference link="forearm_link"/>
+    <xacro:reference link="wrist_1_link"/>
+    <xacro:reference link="wrist_2_link"/>
+    <xacro:reference link="wrist_3_link"/>
+    <xacro:reference link="ee_link"/>
+
+    <!--
+      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">
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro
index 2d202a7d6..f123f6a6f 100644
--- a/ur_gazebo/urdf/ur.xacro
+++ b/ur_gazebo/urdf/ur.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)_robot">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg model)_robot">
   <!--
     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
+    'ur_robot' macro (ie: 'ur_gazebo') and passing it values for all its
     required arguments.
 
     This file should be considered the Gazebo-specific variant of the file
@@ -29,30 +29,26 @@
     NOTE: this imports the Gazebo-wrapper main macro, NOT the regular
           xacro macro (which is hosted by ur_description).
   -->
-  <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>
+  <xacro:include filename="$(find ur_gazebo)/urdf/macro.xacro"/>
 
   <!--Declare arguments -->
+  <xacro:arg name="prefix" default=""/>
   <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
-      - hardware_interface/EffortJointInterface
-
+  <!-- transmission_hw_interface: position, velocity or effort
     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/EffortJointInterface"/>
-  <xacro:arg name="safety_limits" default="false"/>
-  <xacro:arg name="safety_pos_margin" default="0.15"/>
-  <xacro:arg name="safety_k_position" default="20"/>
+          controller .yaml files in the 'config' directory. -->
+  <xacro:arg name="transmission_hw_interface" default=""/>
+  <xacro:arg name="safety_limits" default=""/>
+  <xacro:arg name="safety_pos_margin" default=""/>
+  <xacro:arg name="safety_k_position" default=""/>
 
   <!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
-  <xacro:ur_robot_gazebo
-    prefix=""
+  <xacro:ur_gazebo
+    model="$(arg model)"
+    prefix="$(arg prefix)"
     joint_limits_parameters_file="$(arg joint_limit_params)"
     kinematics_parameters_file="$(arg kinematics_params)"
     physical_parameters_file="$(arg physical_params)"
@@ -72,6 +68,7 @@
     a 'world' link there.
   -->
   <link name="world"/>
+
   <joint name="world_joint" type="fixed">
     <parent link="world"/>
     <child link="base_link"/>
diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro
deleted file mode 100644
index fca825035..000000000
--- a/ur_gazebo/urdf/ur_macro.xacro
+++ /dev/null
@@ -1,109 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <!--
-    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
-  -->
-
-
-  <!-- Definition of the main macro -->
-  <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/EffortJointInterface
-   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/inc/ur_macro.xacro"/>
-
-
-    <!-- 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="${safety_k_position}"
-    />
-
-    <!-- Configure self collision properties per link -->
-    <gazebo reference="${prefix}shoulder_link">
-      <selfCollide>true</selfCollide>
-    </gazebo>
-    <gazebo reference="${prefix}upper_arm_link">
-      <selfCollide>true</selfCollide>
-    </gazebo>
-    <gazebo reference="${prefix}forearm_link">
-      <selfCollide>true</selfCollide>
-    </gazebo>
-    <gazebo reference="${prefix}wrist_1_link">
-      <selfCollide>true</selfCollide>
-    </gazebo>
-    <gazebo reference="${prefix}wrist_3_link">
-      <selfCollide>true</selfCollide>
-    </gazebo>
-    <gazebo reference="${prefix}wrist_2_link">
-      <selfCollide>true</selfCollide>
-    </gazebo>
-    <gazebo reference="${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-->
-        <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
-      </plugin>
-    </gazebo>
-  </xacro:macro>
-</robot>