From f95a2116bdda1f42b6fd7fcb28fc793e60953d4d Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Mon, 7 Nov 2022 15:30:33 +0100
Subject: [PATCH] ur_description: Make robot name configurable on
 load_ur.launch (#612)

In 9d02ccadc8fb9b5cfeaf0d5b0c0c7708d2461447 robot launchfiles were forwarded
to their specialized launchfiles instead of setting the robot model in the
load_ur.launch file.
---
 ur_description/launch/load_ur.launch | 3 ++-
 ur_description/urdf/ur.xacro         | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch
index 99e99a812..20cba4fb7 100644
--- a/ur_description/launch/load_ur.launch
+++ b/ur_description/launch/load_ur.launch
@@ -30,7 +30,8 @@
        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/$(arg robot_model).xacro'
+  <param name="robot_description" command="$(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:=$(arg physical_params)
diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
index 5e0664646..cbcffab2a 100644
--- a/ur_description/urdf/ur.xacro
+++ b/ur_description/urdf/ur.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)_robot">
 
    <!-- import main macro -->
    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>