* moved ur_e_description meshes files to ur_description

* one for each models

* removed each model specific xacro
* use of yaml files
* pass yaml files as parameters
* common ur_robo macro
* remved ur_gazebo specific parts

* use of yaml files parameters
* added e_series
* create a common launch file to avoir duplicated

* added e-series

* added e-series

* default in melodic

Urdf with args and yaml configuration

the kinematics parameters can be retrieved from a calibration mechanism
to precisely represent the robot's kinematics.

This model is only correct in the kinematics structure. Meshes and dynamics
parameters have to be corrected.

Add Ur16e support

Links first, then joints.

Align them with other ROS-I support packages.

avoid deprecation warnings.

Use new name.

Align with other models. For #265.

Align them with other ROS-Industrial support packages.

Co-authored-by: Felix Exner <felix_mauch@web.de>

Misc updates to ur_description

It has been deprecated for years and should not be used any longer.

Replaced by:

 - ur_modern_driver (CB1, CB2)
 - ur_robot_driver (CB3 and newer)

Remove obsolete driver and bringup pkgs

Company is called Universal Robots (plural).

We no longer allow those to fail.

Old name probably cargo-cult from way-back-when.

Instead of as a global.

Having it as part of the row increases visibility and avoids confusion.

Update Travis CI config

re: ros-industrial/ros_industrial_issues#26

Legacy __print__ statements are syntax errors in Python 3 but __print()__ function works as expected in both Python 2 and Python 3.

Cherry-pick missing commits from kinetic-devel into melodic-devel

As the way we model the robots may change in the future, users should consider these files as private.

No guarantees are given as to the existence of these files or their contents.

Also remove the tiny collision object, as it's no longer needed now that MoveIt has been fixed.

This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0).

Now that flange is its parent.

Aligned with other ROS-Industrial robot support packages.

Add flange frame

These convenience wrappers only setup defaults, and all args are needed, so pass all of them.

There is an offset between 'base_link' and 'base', but it's a fixed one, known and does not need to be a property.

Rectify the problem with the 'base_link' mesh in a follow-up commit.

To work around the root-link-with-inertia limitation in KDL.

So it's coincident with the robot's/controller's 'Base' frame. It's actually 180 degrees rotated over Z wrt 'base_link'.

Connector should be aligned with Y+ of 'base' frame.

Remove incorrect base_link rotation.

Based on values from the User Manuals.

Bring in-line with other joint limit files.

This allows re-using them with MoveIt and ros_control hw interfaces.

Not joints limits.

'ros_control format' uses different names, so use them.

They were renamed (in c0f71eb), so use the new names.

Renamed in ur_description, so use the new names here as well and pass the right values.

Use 'ros_control style' joint limit files

See https://github.com/ros-industrial/ur_msgs.

Until Melodic repositories have been synced again.

Remove ur_msgs

So Kinetic CI builds are allowed to fail.

This avoids having to 'remember' to load_yaml(..) the contents of those files in every user of the 'ur_robot' macro, and seems to conform to the idea behind the '*_parameters_file' naming of the parameters (they're paths to files, not yaml strings).

Aligns with similar changes in ur_description.

Load yaml files in read_model_data(..), nowhere else

Rename file to reflect name of macro or top-level entity.

Include 'gazebo' reference as these files host content specific to Gazebo.

Only the ros_control elements are retained.

The UR doesn't have a battery, so no need to include that plugin.

Align with filenames and other ROS-Industrial Gazebo support packages.

This is most likely a relic from the PR2 simulation.

So merge contents into 'ur_common.launch' and remove the file.

These mimic the files with the same names as in ur_description, but load the Gazebo model instead of the real robot onto the parameter server.

These files will serve the same purpose as those provided by a/the driver (but instead of a driver, they will launch Gazebo). Give them the same name to make them recognisable.

Top-level xacro should not default to any robot.