unify common xacro files

ur_description/urdf/ur5.gazebo.xacro → ur_description/urdf/ur.gazebo.xacro

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="ur5_arm_gazebo" params="prefix">
+  <xacro:macro name="ur_arm_gazebo" params="prefix">
     <!-- nothing to do here at the moment -->
   </xacro:macro>
 

ur_description/urdf/ur5.transmission.xacro → ur_description/urdf/ur.transmission.xacro

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="ur5_arm_transmission" params="prefix">
+  <xacro:macro name="ur_arm_transmission" params="prefix">
 
     <transmission name="${prefix}shoulder_pan_trans">
       <type>transmission_interface/SimpleTransmission</type>

ur_description/urdf/ur10.gazebo.xacro

-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="ur10_arm_gazebo" params="prefix">
-    <!-- nothing to do here at the moment -->
-  </xacro:macro>
-
-</robot>

ur_description/urdf/ur10.transmission.xacro

-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="ur10_arm_transmission" params="prefix">
-
-    <transmission name="${prefix}shoulder_pan_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}shoulder_pan_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}shoulder_pan_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  
-    <transmission name="${prefix}shoulder_lift_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}shoulder_lift_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}shoulder_lift_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  
-    <transmission name="${prefix}elbow_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}elbow_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}elbow_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  
-    <transmission name="${prefix}wrist_1_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}wrist_1_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}wrist_1_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  
-    <transmission name="${prefix}wrist_2_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}wrist_2_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}wrist_2_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  
-    <transmission name="${prefix}wrist_3_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}wrist_3_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${prefix}wrist_3_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-  </xacro:macro>
-
-</robot>

ur_description/urdf/ur10.urdf.xacro

@@ -6,8 +6,8 @@
   Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana 
 -->
 
-  <xacro:include filename="$(find ur_description)/urdf/ur10.transmission.xacro" />
-  <xacro:include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
 
   <property name="pi" value="3.14159265" />
 
@@ -297,8 +297,8 @@
       </collision>
     </link>
 
-    <xacro:ur10_arm_transmission prefix="${prefix}" />
-    <xacro:ur10_arm_gazebo prefix="${prefix}" />
+    <xacro:ur_arm_transmission prefix="${prefix}" />
+    <xacro:ur_arm_gazebo prefix="${prefix}" />
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
     <link name="${prefix}base"/>

ur_description/urdf/ur10_joint_limited_robot.urdf.xacro

@@ -3,7 +3,7 @@
        name="ur10" >
 
   <!-- common stuff -->
-  <xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
 
   <!-- ur10 -->
   <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />

ur_description/urdf/ur10_robot.urdf.xacro

@@ -3,7 +3,7 @@
        name="ur10" >
 
   <!-- common stuff -->
-  <xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
 
   <!-- ur10 -->
   <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />

ur_description/urdf/ur5.urdf.xacro

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
-  <xacro:include filename="$(find ur_description)/urdf/ur5.gazebo.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
 
   <property name="pi" value="3.14159265" />
 
@@ -312,8 +312,8 @@
       </collision>
     </link>
 
-    <xacro:ur5_arm_transmission prefix="${prefix}" />
-    <xacro:ur5_arm_gazebo prefix="${prefix}" />
+    <xacro:ur_arm_transmission prefix="${prefix}" />
+    <xacro:ur_arm_gazebo prefix="${prefix}" />
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
     <link name="${prefix}base"/>

ur_description/urdf/ur5_joint_limited_robot.urdf.xacro

@@ -3,7 +3,7 @@
        name="ur5" >
 
   <!-- common stuff -->
-  <xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
 
   <!-- ur5 -->
   <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />

ur_description/urdf/ur5_robot.urdf.xacro

@@ -3,7 +3,7 @@
        name="ur5" >
 
   <!-- common stuff -->
-  <xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
 
   <!-- ur5 -->
   <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />