Robot not correctly visualized in Rviz when using different ur_type then ur20

[LorenzG1]

Executing this command on ROS2 Jazzy results in an UR robot shown. It seems that some properties of the UR20 are taken.

ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true ur_type:=ur5

[urfeex]

Yes, that seems to be true, unfortunately. Thank you for letting us know.

[urfeex]

The issue comes from the fact that for our example we use a calibrated robot description, which uses the calibration file from the UR20 by default. So, by passing a different robot_type, the type gets changed, but the kinematics config is still read from the UR20. To get the behavior that you want, you'll have to use

ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true ur_type:=ur5 \
  kinematics_parameters_file:=$(ros2 pkg prefix ur_description)/share/ur_description/config/ur5/default_kinematics.yaml

[LorenzG1]

Thanks! That indeed shows the UR5 correctly.