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added paramter for loading gazebo ros control plugin for multiple robot set up #595

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added paramter for loading gazebo ros control plugin for multiple robot set up #595

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34 changes: 13 additions & 21 deletions ur_gazebo/urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -47,30 +47,20 @@
physical_parameters_file
visual_parameters_file
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
>
safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20
load_gazebo_ros_control_plugin:=true">
<!--
Import the xacro macro for the REAL robot (which we'll augment with Gazebo
specific elements in the wrapper macro below).

NOTE: this imports the '_macro.xacro' from ur_description, as that contains
the definitions for the real robot.
-->
<xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
<xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro" />


<!-- Instantiate model for the REAL robot. -->
<xacro:ur_robot
prefix="${prefix}"
joint_limits_parameters_file="${joint_limits_parameters_file}"
kinematics_parameters_file="${kinematics_parameters_file}"
physical_parameters_file="${physical_parameters_file}"
visual_parameters_file="${visual_parameters_file}"
transmission_hw_interface="${transmission_hw_interface}"
safety_limits="${safety_limits}"
safety_pos_margin="${safety_pos_margin}"
safety_k_position="${safety_k_position}"
/>
<xacro:ur_robot prefix="${prefix}" joint_limits_parameters_file="${joint_limits_parameters_file}" kinematics_parameters_file="${kinematics_parameters_file}" physical_parameters_file="${physical_parameters_file}" visual_parameters_file="${visual_parameters_file}" transmission_hw_interface="${transmission_hw_interface}" safety_limits="${safety_limits}" safety_pos_margin="${safety_pos_margin}" safety_k_position="${safety_k_position}" />

<!-- Configure self collision properties per link -->
<gazebo reference="${prefix}shoulder_link">
Expand Down Expand Up @@ -99,11 +89,13 @@
Inject Gazebo ROS Control plugin, which allows us to use ros_control
controllers to control the virtual robot hw.
-->
<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
</gazebo>
<xacro:if value="${load_gazebo_ros_control_plugin}">
<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>
</robot>