Add convenience macros for description files #562
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So move to include directory.
These avoid users having to provide values for *all* arguments of the 'ur_robot' macro. In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi). With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones. Users looking to include a UR into a larger scene or composite xacro macro should 'xacro:include' these '_macro.xacro' files. The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults.
This was changed in e4eb547
Merged
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Sorry for bothering, but is anything holding this back? |
fmauch
referenced
this pull request
in UniversalRobots/Universal_Robots_ROS_Driver
May 3, 2021
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Since this pull request has been approved by a reviewer, can anyone have merge permission merge this one? |
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Bump |
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Also approving :) |
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ping @gavanderhoorn , could you please check the changes proposed here and merge the PR? I have already tested and approved it. |
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Is there any particular reason this isn't merged? |
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Please merge this |
1 similar comment
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Please merge this |
gavanderhoorn
approved these changes
Sep 28, 2021
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This is a mess, but that's not @fmauch's fault.
Let's at least resolve the situation where we have nothing.
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Originally started by @gavanderhoorn this PR aims at providing direct xacro macros for each robot model.
This way, users can easily embed a UR robot into their own robot descriptions without the necessity of providing all xacro arguments, as default values for the respective models are already set.
I mainly open this PR, as I'd like to base #538 on top of those changes. @gavanderhoorn I hope you don't mind hijacking your efforts here.