Add transmission_hw_interface to URe xacro and expose everywhere #528
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ipa-nhg
approved these changes
Jul 14, 2020
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Thanks a lot for this contribution, I think the changes make sense for this branch and for consistency with #392 .
(Comment: the current version of this repository (for melodic), which have common launch files for both UR series, supports already this feature: https://github.com/ros-industrial/universal_robot/blob/melodic-devel-staging/ur_gazebo/launch/inc/load_ur.launch.xml#L28)
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Adds the capability to select the hardware interface used in the
<transmission>elements in the URDF model. This allows creating custom simulation setups with different hardware interfaces, e.g.hardware_interface/VelocityJointInterface.Same changes compared with #392, applying to all URe models in this case.