From a0533182771c9e703ac4996decca66038908e7c5 Mon Sep 17 00:00:00 2001
From: Robert Arno Kampf <robert1.kampf@student.uni-augsburg.de>
Date: Wed, 16 Nov 2022 17:18:17 +0100
Subject: [PATCH] Simplified ur_description and ur_gazebo by using model
 argument

Model specific xacro and launch files replaced by generic ones.
Default arguments and parameters only defined once in lowest level files by replacing empty strings.
Omit properties same as default.
Still all properties can be overridden in upper level files.
Less redefining of arguments and parameters by pass_all_args in launch and using upper level parameters in xacro files.
transmission_hw_interface only needs to contain parts of position, velocity or effort in lower or upper case.
Names of properties, files and directory structure simplified.
Macro for individual transmission and fixed joint added.
Fractions and squares cylinder_inertial macro.
initial_joint_positions, full world_pose and unpause argument at spawning added to control.launch, as by moveit_setup_assistant.
robot_model changed to model for easier calling for example: roslaunch ur_gazebo bringup.launch model:=ur5
---
 README.md                                     |   2 +-
 ur10_moveit_config/.setup_assistant           |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur10e_moveit_config/.setup_assistant          |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur16e_moveit_config/.setup_assistant          |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur3_moveit_config/.setup_assistant            |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur3e_moveit_config/.setup_assistant           |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur5_moveit_config/.setup_assistant            |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur5e_moveit_config/.setup_assistant           |   4 +-
 .../launch/planning_context.launch            |   2 +-
 ur_description/CMakeLists.txt                 |  14 +-
 ur_description/launch/load.launch             |  47 ++++
 ur_description/launch/load_ur.launch          |  44 ----
 ur_description/launch/load_ur10.launch        |  18 --
 ur_description/launch/load_ur10e.launch       |  18 --
 ur_description/launch/load_ur16e.launch       |  18 --
 ur_description/launch/load_ur3.launch         |  18 --
 ur_description/launch/load_ur3e.launch        |  18 --
 ur_description/launch/load_ur5.launch         |  18 --
 ur_description/launch/load_ur5e.launch        |  18 --
 ur_description/launch/test.launch             |  10 +
 ur_description/launch/view.launch             |   8 +
 .../{cfg/view_robot.rviz => launch/view.rviz} |   0
 ur_description/launch/view_ur10.launch        |   8 -
 ur_description/launch/view_ur10e.launch       |   8 -
 ur_description/launch/view_ur16e.launch       |   8 -
 ur_description/launch/view_ur3.launch         |   8 -
 ur_description/launch/view_ur3e.launch        |   8 -
 ur_description/launch/view_ur5.launch         |   8 -
 ur_description/launch/view_ur5e.launch        |   8 -
 ur_description/tests/roslaunch_test_ur10.xml  |  10 -
 ur_description/tests/roslaunch_test_ur10e.xml |  10 -
 ur_description/tests/roslaunch_test_ur16e.xml |  10 -
 ur_description/tests/roslaunch_test_ur3.xml   |  10 -
 ur_description/tests/roslaunch_test_ur3e.xml  |  10 -
 ur_description/tests/roslaunch_test_ur5.xml   |  10 -
 ur_description/tests/roslaunch_test_ur5e.xml  |  10 -
 .../{inc/ur_common.xacro => common.xacro}     |  17 +-
 ur_description/urdf/inc/ur10_macro.xacro      |  47 ----
 ur_description/urdf/inc/ur10e_macro.xacro     |  47 ----
 ur_description/urdf/inc/ur16e_macro.xacro     |  47 ----
 ur_description/urdf/inc/ur3_macro.xacro       |  47 ----
 ur_description/urdf/inc/ur3e_macro.xacro      |  47 ----
 ur_description/urdf/inc/ur5_macro.xacro       |  47 ----
 ur_description/urdf/inc/ur5e_macro.xacro      |  47 ----
 .../urdf/inc/ur_transmissions.xacro           |  73 ------
 .../urdf/{inc/ur_macro.xacro => macro.xacro}  | 226 ++++++++++--------
 ur_description/urdf/transmissions.xacro       |  39 +++
 ur_description/urdf/ur.xacro                  |  56 +++--
 ur_description/urdf/ur10.xacro                |  22 --
 ur_description/urdf/ur10e.xacro               |  22 --
 ur_description/urdf/ur16e.xacro               |  22 --
 ur_description/urdf/ur3.xacro                 |  22 --
 ur_description/urdf/ur3e.xacro                |  22 --
 ur_description/urdf/ur5.xacro                 |  22 --
 ur_description/urdf/ur5e.xacro                |  22 --
 ur_gazebo/CMakeLists.txt                      |  15 +-
 .../ur10.yaml}                                |   0
 .../ur10e.yaml}                               |   0
 .../ur16e.yaml}                               |   0
 .../ur3.yaml}                                 |   0
 .../ur3e.yaml}                                |   0
 .../ur5.yaml}                                 |   0
 .../ur5e.yaml}                                |   0
 ur_gazebo/launch/bringup.launch               |  48 ++++
 .../ur_control.launch.xml => control.launch}  |  45 ++--
 ur_gazebo/launch/inc/load_ur.launch.xml       |  46 ----
 ur_gazebo/launch/inc/load_ur10.launch.xml     |  19 --
 ur_gazebo/launch/inc/load_ur10e.launch.xml    |  19 --
 ur_gazebo/launch/inc/load_ur16e.launch.xml    |  19 --
 ur_gazebo/launch/inc/load_ur3.launch.xml      |  19 --
 ur_gazebo/launch/inc/load_ur3e.launch.xml     |  19 --
 ur_gazebo/launch/inc/load_ur5.launch.xml      |  19 --
 ur_gazebo/launch/inc/load_ur5e.launch.xml     |  19 --
 ur_gazebo/launch/load.launch                  |  48 ++++
 ur_gazebo/launch/test.launch                  |  10 +
 ur_gazebo/launch/ur10_bringup.launch          |  75 ------
 ur_gazebo/launch/ur10e_bringup.launch         |  75 ------
 ur_gazebo/launch/ur16e_bringup.launch         |  75 ------
 ur_gazebo/launch/ur3_bringup.launch           |  75 ------
 ur_gazebo/launch/ur3e_bringup.launch          |  75 ------
 ur_gazebo/launch/ur5_bringup.launch           |  75 ------
 ur_gazebo/launch/ur5e_bringup.launch          |  75 ------
 ur_gazebo/tests/roslaunch_test_ur10.xml       |  10 -
 ur_gazebo/tests/roslaunch_test_ur10e.xml      |  10 -
 ur_gazebo/tests/roslaunch_test_ur16e.xml      |  10 -
 ur_gazebo/tests/roslaunch_test_ur3.xml        |  10 -
 ur_gazebo/tests/roslaunch_test_ur3e.xml       |  10 -
 ur_gazebo/tests/roslaunch_test_ur5.xml        |  10 -
 ur_gazebo/tests/roslaunch_test_ur5e.xml       |  10 -
 ur_gazebo/urdf/macro.xacro                    |  94 ++++++++
 ur_gazebo/urdf/ur.xacro                       |  31 ++-
 ur_gazebo/urdf/ur_macro.xacro                 | 109 ---------
 98 files changed, 537 insertions(+), 1950 deletions(-)
 create mode 100644 ur_description/launch/load.launch
 delete mode 100644 ur_description/launch/load_ur.launch
 delete mode 100644 ur_description/launch/load_ur10.launch
 delete mode 100644 ur_description/launch/load_ur10e.launch
 delete mode 100644 ur_description/launch/load_ur16e.launch
 delete mode 100644 ur_description/launch/load_ur3.launch
 delete mode 100644 ur_description/launch/load_ur3e.launch
 delete mode 100644 ur_description/launch/load_ur5.launch
 delete mode 100644 ur_description/launch/load_ur5e.launch
 create mode 100644 ur_description/launch/test.launch
 create mode 100644 ur_description/launch/view.launch
 rename ur_description/{cfg/view_robot.rviz => launch/view.rviz} (100%)
 delete mode 100644 ur_description/launch/view_ur10.launch
 delete mode 100644 ur_description/launch/view_ur10e.launch
 delete mode 100644 ur_description/launch/view_ur16e.launch
 delete mode 100644 ur_description/launch/view_ur3.launch
 delete mode 100644 ur_description/launch/view_ur3e.launch
 delete mode 100644 ur_description/launch/view_ur5.launch
 delete mode 100644 ur_description/launch/view_ur5e.launch
 delete mode 100644 ur_description/tests/roslaunch_test_ur10.xml
 delete mode 100644 ur_description/tests/roslaunch_test_ur10e.xml
 delete mode 100644 ur_description/tests/roslaunch_test_ur16e.xml
 delete mode 100644 ur_description/tests/roslaunch_test_ur3.xml
 delete mode 100644 ur_description/tests/roslaunch_test_ur3e.xml
 delete mode 100644 ur_description/tests/roslaunch_test_ur5.xml
 delete mode 100644 ur_description/tests/roslaunch_test_ur5e.xml
 rename ur_description/urdf/{inc/ur_common.xacro => common.xacro} (97%)
 delete mode 100644 ur_description/urdf/inc/ur10_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur10e_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur16e_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur3_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur3e_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur5_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur5e_macro.xacro
 delete mode 100644 ur_description/urdf/inc/ur_transmissions.xacro
 rename ur_description/urdf/{inc/ur_macro.xacro => macro.xacro} (70%)
 create mode 100644 ur_description/urdf/transmissions.xacro
 delete mode 100644 ur_description/urdf/ur10.xacro
 delete mode 100644 ur_description/urdf/ur10e.xacro
 delete mode 100644 ur_description/urdf/ur16e.xacro
 delete mode 100644 ur_description/urdf/ur3.xacro
 delete mode 100644 ur_description/urdf/ur3e.xacro
 delete mode 100644 ur_description/urdf/ur5.xacro
 delete mode 100644 ur_description/urdf/ur5e.xacro
 rename ur_gazebo/{config/ur10_controllers.yaml => controllers/ur10.yaml} (100%)
 rename ur_gazebo/{config/ur10e_controllers.yaml => controllers/ur10e.yaml} (100%)
 rename ur_gazebo/{config/ur16e_controllers.yaml => controllers/ur16e.yaml} (100%)
 rename ur_gazebo/{config/ur3_controllers.yaml => controllers/ur3.yaml} (100%)
 rename ur_gazebo/{config/ur3e_controllers.yaml => controllers/ur3e.yaml} (100%)
 rename ur_gazebo/{config/ur5_controllers.yaml => controllers/ur5.yaml} (100%)
 rename ur_gazebo/{config/ur5e_controllers.yaml => controllers/ur5e.yaml} (100%)
 create mode 100644 ur_gazebo/launch/bringup.launch
 rename ur_gazebo/launch/{inc/ur_control.launch.xml => control.launch} (54%)
 delete mode 100644 ur_gazebo/launch/inc/load_ur.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur10.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur10e.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur16e.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur3.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur3e.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur5.launch.xml
 delete mode 100644 ur_gazebo/launch/inc/load_ur5e.launch.xml
 create mode 100644 ur_gazebo/launch/load.launch
 create mode 100644 ur_gazebo/launch/test.launch
 delete mode 100644 ur_gazebo/launch/ur10_bringup.launch
 delete mode 100644 ur_gazebo/launch/ur10e_bringup.launch
 delete mode 100644 ur_gazebo/launch/ur16e_bringup.launch
 delete mode 100644 ur_gazebo/launch/ur3_bringup.launch
 delete mode 100644 ur_gazebo/launch/ur3e_bringup.launch
 delete mode 100644 ur_gazebo/launch/ur5_bringup.launch
 delete mode 100644 ur_gazebo/launch/ur5e_bringup.launch
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur10.xml
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur10e.xml
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur16e.xml
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur3.xml
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur3e.xml
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur5.xml
 delete mode 100644 ur_gazebo/tests/roslaunch_test_ur5e.xml
 create mode 100644 ur_gazebo/urdf/macro.xacro
 delete mode 100644 ur_gazebo/urdf/ur_macro.xacro

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>