From 2fe4e3a1d1b94dc54b51e8ad623027b3a70b9b37 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 15 Nov 2023 05:11:05 +0000
Subject: [PATCH 1/3] Remove ros2_control tag from package

There definitively is a need for using the robot description without the ros2_control
tag in general e.g. when simply viewing the robot model.

This commit removes the dependency to the ros2_control tag from the macro
instantiating a robot and adds new files describing the control mechanisms
of the individual joints and sensors.
These files can be included in ros2_control files setting up a specific
control structure (e.g. hardware driver, mock hardware, gazebo).
---
 urdf/inc/ur_joint_control.xacro | 128 ++++++++++++
 urdf/inc/ur_sensors.xacro       |  13 ++
 urdf/ur.ros2_control.xacro      | 349 --------------------------------
 urdf/ur.urdf.xacro              |  85 +-------
 urdf/ur_macro.xacro             |  74 +------
 5 files changed, 147 insertions(+), 502 deletions(-)
 create mode 100644 urdf/inc/ur_joint_control.xacro
 create mode 100644 urdf/inc/ur_sensors.xacro
 delete mode 100644 urdf/ur.ros2_control.xacro

diff --git a/urdf/inc/ur_joint_control.xacro b/urdf/inc/ur_joint_control.xacro
new file mode 100644
index 0000000..2226fa0
--- /dev/null
+++ b/urdf/inc/ur_joint_control.xacro
@@ -0,0 +1,128 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="ur_joint_control_description" params="
+    tf_prefix
+    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+    ">
+    <joint name="${tf_prefix}shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">{-2*pi}</param>
+        <param name="max">{2*pi}</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">{-2*pi}</param>
+        <param name="max">{2*pi}</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}elbow_joint">
+      <command_interface name="position">
+        <param name="min">{-pi}</param>
+        <param name="max">{pi}</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['elbow_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">{-2*pi}</param>
+        <param name="max">{2*pi}</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">{-2*pi}</param>
+        <param name="max">{2*pi}</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">{-2*pi}</param>
+        <param name="max">{2*pi}</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['wrist_3_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/urdf/inc/ur_sensors.xacro b/urdf/inc/ur_sensors.xacro
new file mode 100644
index 0000000..13f60ec
--- /dev/null
+++ b/urdf/inc/ur_sensors.xacro
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="ur_sensors" params="tf_prefix">
+    <sensor name="${tf_prefix}tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+  </xacro:macro>
+</robot>
diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
deleted file mode 100644
index 98f7047..0000000
--- a/urdf/ur.ros2_control.xacro
+++ /dev/null
@@ -1,349 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="ur_ros2_control" params="
-    name
-    use_mock_hardware:=false mock_sensor_commands:=false
-    sim_gazebo:=false
-    sim_ignition:=false
-    headless_mode:=false
-    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
-    use_tool_communication:=false
-    script_filename output_recipe_filename
-    input_recipe_filename tf_prefix
-    hash_kinematics robot_ip
-    tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
-    tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
-    reverse_port:=50001
-    script_sender_port:=50002
-    reverse_ip:=0.0.0.0
-    script_command_port:=50004
-    trajectory_port:=50003
-    non_blocking_read:=true
-    keep_alive_count:=2
-    ">
-
-    <ros2_control name="${name}" type="system">
-      <hardware>
-        <xacro:if value="${sim_gazebo}">
-          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-        </xacro:if>
-        <xacro:if value="${sim_ignition}">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
-        </xacro:if>
-        <xacro:if value="${use_mock_hardware}">
-          <plugin>mock_components/GenericSystem</plugin>
-          <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
-        </xacro:if>
-        <xacro:unless value="${use_mock_hardware or sim_gazebo or sim_ignition}">
-          <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
-          <param name="robot_ip">${robot_ip}</param>
-          <param name="script_filename">${script_filename}</param>
-          <param name="output_recipe_filename">${output_recipe_filename}</param>
-          <param name="input_recipe_filename">${input_recipe_filename}</param>
-          <param name="headless_mode">${headless_mode}</param>
-          <param name="reverse_port">${reverse_port}</param>
-          <param name="script_sender_port">${script_sender_port}</param>
-          <param name="reverse_ip">${reverse_ip}</param>
-          <param name="script_command_port">${script_command_port}</param>
-          <param name="trajectory_port">${trajectory_port}</param>
-          <param name="tf_prefix">${tf_prefix}</param>
-          <param name="non_blocking_read">${non_blocking_read}</param>
-          <param name="servoj_gain">2000</param>
-          <param name="servoj_lookahead_time">0.03</param>
-          <param name="use_tool_communication">${use_tool_communication}</param>
-          <param name="kinematics/hash">${hash_kinematics}</param>
-          <param name="tool_voltage">${tool_voltage}</param>
-          <param name="tool_parity">${tool_parity}</param>
-          <param name="tool_baud_rate">${tool_baud_rate}</param>
-          <param name="tool_stop_bits">${tool_stop_bits}</param>
-          <param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
-          <param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
-          <param name="tool_device_name">${tool_device_name}</param>
-          <param name="tool_tcp_port">${tool_tcp_port}</param>
-          <param name="keep_alive_count">${keep_alive_count}</param>
-        </xacro:unless>
-      </hardware>
-      <joint name="${tf_prefix}shoulder_pan_joint">
-        <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.15</param>
-          <param name="max">3.15</param>
-        </command_interface>
-        <state_interface name="position">
-          <!-- initial position for the mock system and simulation -->
-          <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
-        </state_interface>
-        <state_interface name="velocity">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="effort">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint>
-      <joint name="${tf_prefix}shoulder_lift_joint">
-        <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.15</param>
-          <param name="max">3.15</param>
-        </command_interface>
-        <state_interface name="position">
-          <!-- initial position for the mock system and simulation -->
-          <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
-        </state_interface>
-        <state_interface name="velocity">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="effort">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint>
-      <joint name="${tf_prefix}elbow_joint">
-        <command_interface name="position">
-          <param name="min">{-pi}</param>
-          <param name="max">{pi}</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.15</param>
-          <param name="max">3.15</param>
-        </command_interface>
-        <state_interface name="position">
-          <!-- initial position for the mock system and simulation -->
-          <param name="initial_value">${initial_positions['elbow_joint']}</param>
-        </state_interface>
-        <state_interface name="velocity">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="effort">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint>
-      <joint name="${tf_prefix}wrist_1_joint">
-        <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
-        <state_interface name="position">
-          <!-- initial position for the mock system and simulation -->
-          <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
-        </state_interface>
-        <state_interface name="velocity">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="effort">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint>
-      <joint name="${tf_prefix}wrist_2_joint">
-        <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
-        <state_interface name="position">
-          <!-- initial position for the mock system and simulation -->
-          <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
-        </state_interface>
-        <state_interface name="velocity">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="effort">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint>
-      <joint name="${tf_prefix}wrist_3_joint">
-        <command_interface name="position">
-          <param name="min">{-2*pi}</param>
-          <param name="max">{2*pi}</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-3.2</param>
-          <param name="max">3.2</param>
-        </command_interface>
-        <state_interface name="position">
-          <!-- initial position for the mock system and simulation -->
-          <param name="initial_value">${initial_positions['wrist_3_joint']}</param>
-        </state_interface>
-        <state_interface name="velocity">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="effort">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint>
-
-      <xacro:unless value="${sim_gazebo or sim_ignition}">
-        <sensor name="${tf_prefix}tcp_fts_sensor">
-          <state_interface name="force.x"/>
-          <state_interface name="force.y"/>
-          <state_interface name="force.z"/>
-          <state_interface name="torque.x"/>
-          <state_interface name="torque.y"/>
-          <state_interface name="torque.z"/>
-        </sensor>
-
-        <!-- NOTE The following are joints used only for testing with mock hardware and will change in the future -->
-        <gpio name="${tf_prefix}speed_scaling">
-          <state_interface name="speed_scaling_factor"/>
-          <param name="initial_speed_scaling_factor">1</param>
-          <command_interface name="target_speed_fraction_cmd"/>
-          <command_interface name="target_speed_fraction_async_success"/>
-        </gpio>
-
-        <gpio name="${tf_prefix}gpio">
-          <command_interface name="standard_digital_output_cmd_0"/>
-          <command_interface name="standard_digital_output_cmd_1"/>
-          <command_interface name="standard_digital_output_cmd_2"/>
-          <command_interface name="standard_digital_output_cmd_3"/>
-          <command_interface name="standard_digital_output_cmd_4"/>
-          <command_interface name="standard_digital_output_cmd_5"/>
-          <command_interface name="standard_digital_output_cmd_6"/>
-          <command_interface name="standard_digital_output_cmd_7"/>
-          <command_interface name="standard_digital_output_cmd_8"/>
-          <command_interface name="standard_digital_output_cmd_9"/>
-          <command_interface name="standard_digital_output_cmd_10"/>
-          <command_interface name="standard_digital_output_cmd_11"/>
-          <command_interface name="standard_digital_output_cmd_12"/>
-          <command_interface name="standard_digital_output_cmd_13"/>
-          <command_interface name="standard_digital_output_cmd_14"/>
-          <command_interface name="standard_digital_output_cmd_15"/>
-          <command_interface name="standard_digital_output_cmd_16"/>
-          <command_interface name="standard_digital_output_cmd_17"/>
-
-          <command_interface name="standard_analog_output_cmd_0"/>
-          <command_interface name="standard_analog_output_cmd_1"/>
-
-          <command_interface name="tool_voltage_cmd"/>
-
-          <command_interface name="io_async_success"/>
-
-          <state_interface name="digital_output_0"/>
-          <state_interface name="digital_output_1"/>
-          <state_interface name="digital_output_2"/>
-          <state_interface name="digital_output_3"/>
-          <state_interface name="digital_output_4"/>
-          <state_interface name="digital_output_5"/>
-          <state_interface name="digital_output_6"/>
-          <state_interface name="digital_output_7"/>
-          <state_interface name="digital_output_8"/>
-          <state_interface name="digital_output_9"/>
-          <state_interface name="digital_output_10"/>
-          <state_interface name="digital_output_11"/>
-          <state_interface name="digital_output_12"/>
-          <state_interface name="digital_output_13"/>
-          <state_interface name="digital_output_14"/>
-          <state_interface name="digital_output_15"/>
-          <state_interface name="digital_output_16"/>
-          <state_interface name="digital_output_17"/>
-
-          <state_interface name="digital_input_0"/>
-          <state_interface name="digital_input_1"/>
-          <state_interface name="digital_input_2"/>
-          <state_interface name="digital_input_3"/>
-          <state_interface name="digital_input_4"/>
-          <state_interface name="digital_input_5"/>
-          <state_interface name="digital_input_6"/>
-          <state_interface name="digital_input_7"/>
-          <state_interface name="digital_input_8"/>
-          <state_interface name="digital_input_9"/>
-          <state_interface name="digital_input_10"/>
-          <state_interface name="digital_input_11"/>
-          <state_interface name="digital_input_12"/>
-          <state_interface name="digital_input_13"/>
-          <state_interface name="digital_input_14"/>
-          <state_interface name="digital_input_15"/>
-          <state_interface name="digital_input_16"/>
-          <state_interface name="digital_input_17"/>
-
-          <state_interface name="standard_analog_output_0"/>
-          <state_interface name="standard_analog_output_1"/>
-
-          <state_interface name="standard_analog_input_0"/>
-          <state_interface name="standard_analog_input_1"/>
-
-          <state_interface name="analog_io_type_0"/>
-          <state_interface name="analog_io_type_1"/>
-          <state_interface name="analog_io_type_2"/>
-          <state_interface name="analog_io_type_3"/>
-
-          <state_interface name="tool_mode"/>
-          <state_interface name="tool_output_voltage"/>
-          <state_interface name="tool_output_current"/>
-          <state_interface name="tool_temperature"/>
-
-          <state_interface name="tool_analog_input_0"/>
-          <state_interface name="tool_analog_input_1"/>
-
-          <state_interface name="tool_analog_input_type_0"/>
-          <state_interface name="tool_analog_input_type_1"/>
-
-          <state_interface name="robot_mode"/>
-          <state_interface name="robot_status_bit_0"/>
-          <state_interface name="robot_status_bit_1"/>
-          <state_interface name="robot_status_bit_2"/>
-          <state_interface name="robot_status_bit_3"/>
-
-          <state_interface name="safety_mode"/>
-          <state_interface name="safety_status_bit_0"/>
-          <state_interface name="safety_status_bit_1"/>
-          <state_interface name="safety_status_bit_2"/>
-          <state_interface name="safety_status_bit_3"/>
-          <state_interface name="safety_status_bit_4"/>
-          <state_interface name="safety_status_bit_5"/>
-          <state_interface name="safety_status_bit_6"/>
-          <state_interface name="safety_status_bit_7"/>
-          <state_interface name="safety_status_bit_8"/>
-          <state_interface name="safety_status_bit_9"/>
-          <state_interface name="safety_status_bit_10"/>
-
-          <state_interface name="program_running"/>
-        </gpio>
-
-        <gpio name="${tf_prefix}payload">
-          <command_interface name="mass"/>
-          <command_interface name="cog.x"/>
-          <command_interface name="cog.y"/>
-          <command_interface name="cog.z"/>
-          <command_interface name="payload_async_success"/>
-        </gpio>
-
-        <gpio name="${tf_prefix}resend_robot_program">
-          <command_interface name="resend_robot_program_cmd"/>
-          <command_interface name="resend_robot_program_async_success"/>
-        </gpio>
-
-        <gpio name="${tf_prefix}hand_back_control">
-          <command_interface name="hand_back_control_cmd"/>
-          <command_interface name="hand_back_control_async_success"/>
-        </gpio>
-
-        <gpio name="${tf_prefix}zero_ftsensor">
-          <command_interface name="zero_ftsensor_cmd"/>
-          <command_interface name="zero_ftsensor_async_success"/>
-        </gpio>
-
-        <gpio name="${tf_prefix}system_interface">
-          <state_interface name="initialized"/>
-        </gpio>
-
-      </xacro:unless>
-
-    </ros2_control>
-
-  </xacro:macro>
-
-</robot>
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
index 52ed07c..710d9da 100644
--- a/urdf/ur.urdf.xacro
+++ b/urdf/ur.urdf.xacro
@@ -19,40 +19,9 @@
    <xacro:arg name="safety_limits" default="false"/>
    <xacro:arg name="safety_pos_margin" default="0.15"/>
    <xacro:arg name="safety_k_position" default="20"/>
-   <!-- ros2_control related parameters -->
-   <xacro:arg name="headless_mode" default="false" />
-   <xacro:arg name="robot_ip" default="0.0.0.0" />
-   <xacro:arg name="script_filename" default=""/>
-   <xacro:arg name="output_recipe_filename" default=""/>
-   <xacro:arg name="input_recipe_filename" default=""/>
-   <xacro:arg name="reverse_ip" default="0.0.0.0"/>
-   <xacro:arg name="script_command_port" default="50004"/>
-   <xacro:arg name="reverse_port" default="50001"/>
-   <xacro:arg name="script_sender_port" default="50002"/>
-   <xacro:arg name="trajectory_port" default="50003"/>
-   <!--   tool communication related parameters-->
-   <xacro:arg name="use_tool_communication" default="false" />
-   <xacro:arg name="tool_voltage" default="0" />
-   <xacro:arg name="tool_parity" default="0" />
-   <xacro:arg name="tool_baud_rate" default="115200" />
-   <xacro:arg name="tool_stop_bits" default="1" />
-   <xacro:arg name="tool_rx_idle_chars" default="1.5" />
-   <xacro:arg name="tool_tx_idle_chars" default="3.5" />
-   <xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
-   <xacro:arg name="tool_tcp_port" default="54321" />
 
-     <!-- Simulation parameters -->
-   <xacro:arg name="use_mock_hardware" default="false" />
-   <xacro:arg name="mock_sensor_commands" default="false" />
-   <xacro:arg name="sim_gazebo" default="false" />
-   <xacro:arg name="sim_ignition" default="false" />
-   <xacro:arg name="simulation_controllers" default="" />
-
-   <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
-   <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
-
-   <!-- convert to property to use substitution in function -->
-   <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
+   <!--When using gazebo simulations absolute paths are necessary.-->
+   <xacro:arg name="force_abs_paths" default="false" />
 
    <!-- create link fixed to the "world" -->
    <link name="world" />
@@ -66,59 +35,11 @@
      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="$(arg safety_k_position)"
-     use_mock_hardware="$(arg use_mock_hardware)"
-     mock_sensor_commands="$(arg mock_sensor_commands)"
-     sim_gazebo="$(arg sim_gazebo)"
-     sim_ignition="$(arg sim_ignition)"
-     headless_mode="$(arg headless_mode)"
-     initial_positions="${xacro.load_yaml(initial_positions_file)}"
-     use_tool_communication="$(arg use_tool_communication)"
-     tool_voltage="$(arg tool_voltage)"
-     tool_parity="$(arg tool_parity)"
-     tool_baud_rate="$(arg tool_baud_rate)"
-     tool_stop_bits="$(arg tool_stop_bits)"
-     tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
-     tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
-     tool_device_name="$(arg tool_device_name)"
-     tool_tcp_port="$(arg tool_tcp_port)"
-     robot_ip="$(arg robot_ip)"
-     script_filename="$(arg script_filename)"
-     output_recipe_filename="$(arg output_recipe_filename)"
-     input_recipe_filename="$(arg input_recipe_filename)"
-     reverse_ip="$(arg reverse_ip)"
-     script_command_port="$(arg script_command_port)"
-     reverse_port="$(arg reverse_port)"
-     script_sender_port="$(arg script_sender_port)"
-     trajectory_port="$(arg trajectory_port)"
+     force_abs_paths="$(arg force_abs_paths)"
      >
      <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
    </xacro:ur_robot>
-
-   <xacro:if value="$(arg sim_gazebo)">
-    <!-- Gazebo plugins -->
-    <gazebo reference="world">
-    </gazebo>
-    <gazebo>
-      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-        <parameters>$(arg simulation_controllers)</parameters>
-      </plugin>
-    </gazebo>
-  </xacro:if>
-
-  <xacro:if value="$(arg sim_ignition)">
-    <!-- Gazebo plugins -->
-    <gazebo reference="world">
-    </gazebo>
-    <gazebo>
-      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-        <parameters>$(arg simulation_controllers)</parameters>
-        <controller_manager_node_name>$(arg tf_prefix)controller_manager</controller_manager_node_name>
-      </plugin>
-    </gazebo>
-  </xacro:if>
-
 </robot>
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index b418d12..39c094d 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -50,7 +50,6 @@
      - Muhammad Asif Rana
   -->
 
-  <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="
@@ -62,38 +61,11 @@
     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
-    use_mock_hardware:=false
-    mock_sensor_commands:=false
-    sim_gazebo:=false
-    sim_ignition:=false
-    headless_mode:=false
-    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
-    use_tool_communication:=false
-    tool_voltage:=0
-    tool_parity:=0
-    tool_baud_rate:=115200
-    tool_stop_bits:=1
-    tool_rx_idle_chars:=1.5
-    tool_tx_idle_chars:=3.5
-    tool_device_name:=/tmp/ttyUR
-    tool_tcp_port:=54321
-    robot_ip:=0.0.0.0
-    script_filename:=to_be_filled_by_ur_robot_driver
-    output_recipe_filename:=to_be_filled_by_ur_robot_driver
-    input_recipe_filename:=to_be_filled_by_ur_robot_driver
-    reverse_port:=50001
-    script_sender_port:=50002
-    reverse_ip:=0.0.0.0
-    script_command_port:=50004
-    trajectory_port:=50003
-    non_blocking_read:=true
-    keep_alive_count:=2"
-
-    >
+    force_abs_paths:=false
+    ">
 
     <!-- Load configuration data from the provided .yaml files -->
     <xacro:read_model_data
@@ -101,47 +73,7 @@
       kinematics_parameters_file="${kinematics_parameters_file}"
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"
-      force_abs_paths="${sim_gazebo or sim_ignition}"/>
-
-
-    <!-- ros2 control include -->
-    <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
-    <!-- ros2 control instance -->
-    <xacro:ur_ros2_control
-      name="${name}"
-      use_mock_hardware="${use_mock_hardware}"
-      initial_positions="${initial_positions}"
-      mock_sensor_commands="${mock_sensor_commands}"
-      headless_mode="${headless_mode}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      script_filename="${script_filename}"
-      output_recipe_filename="${output_recipe_filename}"
-      input_recipe_filename="${input_recipe_filename}"
-      tf_prefix="${tf_prefix}"
-      hash_kinematics="${kinematics_hash}"
-      robot_ip="${robot_ip}"
-      use_tool_communication="${use_tool_communication}"
-      tool_voltage="${tool_voltage}"
-      tool_parity="${tool_parity}"
-      tool_baud_rate="${tool_baud_rate}"
-      tool_stop_bits="${tool_stop_bits}"
-      tool_rx_idle_chars="${tool_rx_idle_chars}"
-      tool_tx_idle_chars="${tool_tx_idle_chars}"
-      tool_device_name="${tool_device_name}"
-      tool_tcp_port="${tool_tcp_port}"
-      reverse_port="${reverse_port}"
-      script_sender_port="${script_sender_port}"
-      reverse_ip="${reverse_ip}"
-      script_command_port="${script_command_port}"
-      trajectory_port="${trajectory_port}"
-      non_blocking_read="${non_blocking_read}"
-      keep_alive_count="${keep_alive_count}"
-      />
-
-    <!-- Add URDF transmission elements (for ros_control) -->
-    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
-    <!-- Placeholder for ros2_control transmission which don't yet exist -->
+      force_abs_paths="${force_abs_paths}"/>
 
     <!-- links -  main serial chain -->
     <link name="${tf_prefix}base_link"/>

From c4a50a8eeb0b4bdeaab37df6af29659cd9917096 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 15 Nov 2023 05:54:02 +0000
Subject: [PATCH 2/3] Add mock components ros2_control example

---
 README.md                             |  8 ++++
 urdf/ros2_control_mock_hardware.xacro | 30 +++++++++++++
 urdf/ur_mocked.urdf.xacro             | 61 +++++++++++++++++++++++++++
 3 files changed, 99 insertions(+)
 create mode 100644 urdf/ros2_control_mock_hardware.xacro
 create mode 100644 urdf/ur_mocked.urdf.xacro

diff --git a/README.md b/README.md
index 0cf7640..be4edff 100644
--- a/README.md
+++ b/README.md
@@ -81,3 +81,11 @@ parameters file.
 As mentioned above, see the `urdf/ur.urdf.xacro` file as an example to integrate a UR robot into
 your scene description. Basically, you could create a copy of that file and extend it with the
 modifications from your specific scene.
+
+### Using description with ros2_control
+The description itself does not contain a `ros2_control` tag. However, the package provides a couple
+of helper files to create your own `ros2_control` tag describing the robot's joint control
+mechanisms. See the [`urdf/ur_mocked.urdf.xacro`](urdf/ur_mocked.urdf.xacro)
+file as an example using [mock
+hardware](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
+to control the robot.
diff --git a/urdf/ros2_control_mock_hardware.xacro b/urdf/ros2_control_mock_hardware.xacro
new file mode 100644
index 0000000..042293c
--- /dev/null
+++ b/urdf/ros2_control_mock_hardware.xacro
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
+
+  <xacro:macro name="ur_ros2_control" params="
+    name
+    tf_prefix
+    mock_sensor_commands:=false
+    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+    ">
+
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>mock_components/GenericSystem</plugin>
+        <param name="mock_sensor_commands">${mock_sensor_commands}</param>
+        <param name="state_following_offset">0.0</param>
+      </hardware>
+      <xacro:ur_joint_control_description
+        tf_prefix="${tf_prefix}"
+        initial_positions="${initial_positions}"
+      />
+
+      <xacro:ur_sensors
+        tf_prefix="${tf_prefix}"
+      />
+    </ros2_control>
+  </xacro:macro>
+</robot>
diff --git a/urdf/ur_mocked.urdf.xacro b/urdf/ur_mocked.urdf.xacro
new file mode 100644
index 0000000..519bfb2
--- /dev/null
+++ b/urdf/ur_mocked.urdf.xacro
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <!-- robot name parameter -->
+  <xacro:arg name="name" default="ur"/>
+  <!-- import main macro -->
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+  <xacro:include filename="$(find ur_description)/urdf/ros2_control_mock_hardware.xacro" />
+
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
+  <!-- the default value should raise an error in case this was called without defining the type -->
+  <xacro:arg name="ur_type" default="ur5x"/>
+
+  <!-- parameters -->
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
+  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
+  <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
+  <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
+  <xacro:arg name="transmission_hw_interface" default=""/>
+  <xacro:arg name="safety_limits" default="false"/>
+  <xacro:arg name="safety_pos_margin" default="0.15"/>
+  <xacro:arg name="safety_k_position" default="20"/>
+  <xacro:arg name="mock_sensor_commands" default="false" />
+
+  <!--When using gazebo simulations absolute paths are necessary.-->
+  <xacro:arg name="force_abs_paths" default="false" />
+
+  <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
+  <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
+
+  <!-- convert to property to use substitution in function -->
+  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
+
+  <!-- create link fixed to the "world" -->
+  <link name="world" />
+
+  <!-- arm -->
+  <xacro:ur_robot
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    parent="world"
+    joint_limits_parameters_file="$(arg joint_limit_params)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    physical_parameters_file="$(arg physical_params)"
+    visual_parameters_file="$(arg visual_params)"
+    safety_limits="$(arg safety_limits)"
+    safety_pos_margin="$(arg safety_pos_margin)"
+    safety_k_position="$(arg safety_k_position)"
+    force_abs_paths="$(arg force_abs_paths)"
+    >
+    <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
+  </xacro:ur_robot>
+
+  <!-- ros2 control instance -->
+  <xacro:ur_ros2_control
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    mock_sensor_commands="$(arg mock_sensor_commands)"
+    initial_positions="${xacro.load_yaml(initial_positions_file)}"
+  />
+</robot>

From 059f026d52c171f2124278f206dff7e88a01eb13 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 15 Nov 2023 06:06:52 +0000
Subject: [PATCH 3/3] Parametrize urdf tests with all robot models, tf_prefix
 and mock hardware

---
 test/test_ur_urdf_xacro.py | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/test/test_ur_urdf_xacro.py b/test/test_ur_urdf_xacro.py
index b19428d..fd837b2 100644
--- a/test/test_ur_urdf_xacro.py
+++ b/test/test_ur_urdf_xacro.py
@@ -32,20 +32,23 @@
 import shutil
 import subprocess
 import tempfile
+import pytest
 
 from ament_index_python.packages import get_package_share_directory
 
 
-def test_ur_urdf_xacro():
+@pytest.mark.parametrize(
+    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"]
+)
+@pytest.mark.parametrize("description_file", ["ur.urdf.xacro", "ur_mocked.urdf.xacro"])
+@pytest.mark.parametrize("prefix", ["", "my_ur_"])
+def test_ur_urdf_xacro(ur_type, description_file, prefix):
     # Initialize Arguments
-    ur_type = "ur3"
     safety_limits = "true"
     safety_pos_margin = "0.15"
     safety_k_position = "20"
     # General Arguments
     description_package = "ur_description"
-    description_file = "ur.urdf.xacro"
-    prefix = '""'
 
     joint_limit_params = os.path.join(
         get_package_share_directory(description_package), "config", ur_type, "joint_limits.yaml"