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Updated for primary interface improvements #50

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Updated for primary interface improvements #50

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2 changes: 2 additions & 0 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
simulated_robot:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
Expand Down Expand Up @@ -40,6 +41,7 @@
<param name="output_recipe_filename">${output_recipe_filename}</param>
<param name="input_recipe_filename">${input_recipe_filename}</param>
<param name="headless_mode">${headless_mode}</param>
<param name="simulated_robot">${simulated_robot}</param>
<param name="reverse_port">${reverse_port}</param>
<param name="script_sender_port">${script_sender_port}</param>
<param name="reverse_ip">${reverse_ip}</param>
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2 changes: 2 additions & 0 deletions urdf/ur.urdf.xacro
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Expand Up @@ -21,6 +21,7 @@
<xacro:arg name="safety_k_position" default="20"/>
<!-- ros2_control related parameters -->
<xacro:arg name="headless_mode" default="false" />
<xacro:arg name="simulated_robot" 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=""/>
Expand Down Expand Up @@ -72,6 +73,7 @@
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
simulated_robot="$(arg simulated_robot)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
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2 changes: 2 additions & 0 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
simulated_robot:=false
initial_positions:=${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
Expand Down Expand Up @@ -108,6 +109,7 @@
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
simulated_robot="${simulated_robot}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"
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