diff --git a/ur_bringup/launch/ur10.launch b/ur_bringup/launch/ur10.launch
deleted file mode 100644
index 88ab03bb823e872e81c564b25650a095c4d58f5a..0000000000000000000000000000000000000000
--- a/ur_bringup/launch/ur10.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<!--
- Universal robot ur10 launch. Loads ur10 robot description (see ur_common.launch
- for more info)
-
- Usage:
- ur10.launch robot_ip:=<value>
--->
-<launch>
-
- <!-- robot_ip: IP-address of the robot's socket-messaging server -->
- <arg name="robot_ip" />
-
- <!-- robot model -->
- <include file="$(find ur_description)/launch/ur10_upload.launch" />
-
- <!-- ur common -->
- <include file="$(find ur_bringup)/launch/ur_common.launch">
- <arg name="robot_ip" value="$(arg robot_ip)" />
- </include>
-
-</launch>
diff --git a/ur_bringup/launch/ur5.launch b/ur_bringup/launch/ur5.launch
deleted file mode 100644
index e508bb034645481638231c8cdbe6bce21f428f6c..0000000000000000000000000000000000000000
--- a/ur_bringup/launch/ur5.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<!--
- Universal robot ur5 launch. Loads ur5 robot description (see ur_common.launch
- for more info)
-
- Usage:
- ur5.launch robot_ip:=<value>
--->
-<launch>
-
- <!-- robot_ip: IP-address of the robot's socket-messaging server -->
- <arg name="robot_ip" />
-
- <!-- robot model -->
- <include file="$(find ur_description)/launch/ur5_upload.launch" />
-
- <!-- ur common -->
- <include file="$(find ur_bringup)/launch/ur_common.launch">
- <arg name="robot_ip" value="$(arg robot_ip)" />
- </include>
-
-</launch>
diff --git a/ur_description/meshes/ur10/Base.stl b/ur_description/meshes/ur10/collision/Base.stl
similarity index 100%
rename from ur_description/meshes/ur10/Base.stl
rename to ur_description/meshes/ur10/collision/Base.stl
diff --git a/ur_description/meshes/ur10/Forearm.stl b/ur_description/meshes/ur10/collision/Forearm.stl
similarity index 100%
rename from ur_description/meshes/ur10/Forearm.stl
rename to ur_description/meshes/ur10/collision/Forearm.stl
diff --git a/ur_description/meshes/ur10/Shoulder.stl b/ur_description/meshes/ur10/collision/Shoulder.stl
similarity index 100%
rename from ur_description/meshes/ur10/Shoulder.stl
rename to ur_description/meshes/ur10/collision/Shoulder.stl
diff --git a/ur_description/meshes/ur10/UpperArm.stl b/ur_description/meshes/ur10/collision/UpperArm.stl
similarity index 100%
rename from ur_description/meshes/ur10/UpperArm.stl
rename to ur_description/meshes/ur10/collision/UpperArm.stl
diff --git a/ur_description/meshes/ur10/Wrist1.stl b/ur_description/meshes/ur10/collision/Wrist1.stl
similarity index 100%
rename from ur_description/meshes/ur10/Wrist1.stl
rename to ur_description/meshes/ur10/collision/Wrist1.stl
diff --git a/ur_description/meshes/ur10/Wrist2.stl b/ur_description/meshes/ur10/collision/Wrist2.stl
similarity index 100%
rename from ur_description/meshes/ur10/Wrist2.stl
rename to ur_description/meshes/ur10/collision/Wrist2.stl
diff --git a/ur_description/meshes/ur10/Wrist3.stl b/ur_description/meshes/ur10/collision/Wrist3.stl
similarity index 100%
rename from ur_description/meshes/ur10/Wrist3.stl
rename to ur_description/meshes/ur10/collision/Wrist3.stl
diff --git a/ur_description/meshes/ur10/visual/Base.stl b/ur_description/meshes/ur10/visual/Base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0ac507704937ad22a3a9bfa96b304465986e9073
Binary files /dev/null and b/ur_description/meshes/ur10/visual/Base.stl differ
diff --git a/ur_description/meshes/ur10/visual/Forearm.stl b/ur_description/meshes/ur10/visual/Forearm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5a2d56815395d3dfabcaa96c88b5f5e8fd9f2f21
Binary files /dev/null and b/ur_description/meshes/ur10/visual/Forearm.stl differ
diff --git a/ur_description/meshes/ur10/visual/Shoulder.stl b/ur_description/meshes/ur10/visual/Shoulder.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4de55907b784289a2a4634253ab2f859f452ea91
Binary files /dev/null and b/ur_description/meshes/ur10/visual/Shoulder.stl differ
diff --git a/ur_description/meshes/ur10/visual/UpperArm.stl b/ur_description/meshes/ur10/visual/UpperArm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3690528f03f001d12278ddcb2e304dbc51c8ef00
Binary files /dev/null and b/ur_description/meshes/ur10/visual/UpperArm.stl differ
diff --git a/ur_description/meshes/ur10/visual/Wrist1.stl b/ur_description/meshes/ur10/visual/Wrist1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6003010b45a24020496d32c8784b91bc0192ce93
Binary files /dev/null and b/ur_description/meshes/ur10/visual/Wrist1.stl differ
diff --git a/ur_description/meshes/ur10/visual/Wrist2.stl b/ur_description/meshes/ur10/visual/Wrist2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b3ea078051c9b61bcf06904ecbf3f0fa4b88f1a9
Binary files /dev/null and b/ur_description/meshes/ur10/visual/Wrist2.stl differ
diff --git a/ur_description/meshes/ur10/visual/Wrist3.stl b/ur_description/meshes/ur10/visual/Wrist3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..01b26bf93baa6c786e76aec5a1a96f7ca93273f9
Binary files /dev/null and b/ur_description/meshes/ur10/visual/Wrist3.stl differ
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 593dd6801d6380e3b2d2f77e7c2393579b6ba780..9421d2d5415fad6c5eb9af8ce71c32863da749bd 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -52,23 +52,23 @@
- <xacro:macro name="ur10_robot" params="parent name *origin">
+ <xacro:macro name="ur10_robot" params="prefix">
- <!-- joint between base_link and ur_base_link -->
- <joint name="${name}_base_joint" type="fixed" >
- <insert_block name="origin" />
- <parent link="${parent}" />
- <child link="${name}_base_link" />
- </joint>
-
- <link name="${name}_base_link" >
+ <link name="${prefix}base_link" >
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Base.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/Base.stl" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
<material name="UR/Blue" />
</visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Base.stl" />
+ </geometry>
+ <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
+ </collision>
<inertial>
<mass value="${base_mass}" />
@@ -76,26 +76,26 @@
</inertial>
</link>
- <joint name="${name}_shoulder_pan_joint" type="revolute">
- <parent link="${name}_base_link" />
- <child link = "${name}_shoulder_link" />
+ <joint name="${prefix}shoulder_pan_joint" type="revolute">
+ <parent link="${prefix}base_link" />
+ <child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
- <link name="${name}_shoulder_link">
+ <link name="${prefix}shoulder_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Shoulder.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Shoulder.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.stl" />
</geometry>
</collision>
@@ -106,19 +106,19 @@
</inertial>
</link>
- <joint name="${name}_shoulder_lift_joint" type="revolute">
- <parent link="${name}_shoulder_link" />
- <child link = "${name}_upper_arm_link" />
+ <joint name="${prefix}shoulder_lift_joint" type="revolute">
+ <parent link="${prefix}shoulder_link" />
+ <child link = "${prefix}upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
- <link name="${name}_upper_arm_link">
+ <link name="${prefix}upper_arm_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<material name="UR/Blue" />
@@ -126,7 +126,7 @@
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
@@ -138,26 +138,26 @@
</inertial>
</link>
- <joint name="${name}_elbow_joint" type="revolute">
- <parent link="${name}_upper_arm_link" />
- <child link = "${name}_forearm_link" />
+ <joint name="${prefix}elbow_joint" type="revolute">
+ <parent link="${prefix}upper_arm_link" />
+ <child link = "${prefix}forearm_link" />
<origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
- <link name="${name}_forearm_link">
+ <link name="${prefix}forearm_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Forearm.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Forearm.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl" />
</geometry>
</collision>
@@ -168,19 +168,19 @@
</inertial>
</link>
- <joint name="${name}_wrist_1_joint" type="revolute">
- <parent link="${name}_forearm_link" />
- <child link = "${name}_wrist_1_link" />
+ <joint name="${prefix}wrist_1_joint" type="revolute">
+ <parent link="${prefix}forearm_link" />
+ <child link = "${prefix}wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
- <link name="${name}_wrist_1_link">
+ <link name="${prefix}wrist_1_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Wrist1.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.stl" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
<material name="UR/Blue" />
@@ -188,7 +188,7 @@
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Wrist1.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.stl" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
</collision>
@@ -200,19 +200,19 @@
</inertial>
</link>
- <joint name="${name}_wrist_2_joint" type="revolute">
- <parent link="${name}_wrist_1_link" />
- <child link = "${name}_wrist_2_link" />
+ <joint name="${prefix}wrist_2_joint" type="revolute">
+ <parent link="${prefix}wrist_1_link" />
+ <child link = "${prefix}wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
- <link name="${name}_wrist_2_link">
+ <link name="${prefix}wrist_2_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Wrist2.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.stl" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<material name="UR/Grey" />
@@ -220,7 +220,7 @@
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Wrist2.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.stl" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</collision>
@@ -232,19 +232,19 @@
</inertial>
</link>
- <joint name="${name}_wrist_3_joint" type="revolute">
- <parent link="${name}_wrist_2_link" />
- <child link = "${name}_wrist_3_link" />
+ <joint name="${prefix}wrist_3_joint" type="revolute">
+ <parent link="${prefix}wrist_2_link" />
+ <child link = "${prefix}wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
- <link name="${name}_wrist_3_link">
+ <link name="${prefix}wrist_3_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Wrist3.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.stl" />
</geometry>
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
<material name="UR/Blue" />
@@ -252,7 +252,7 @@
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/Wrist3.stl" />
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.stl" />
</geometry>
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
</collision>
@@ -264,8 +264,8 @@
</inertial>
</link>
- <xacro:ur10_arm_transmission name="${name}" />
- <xacro:ur10_arm_gazebo name="${name}" />
+ <xacro:ur10_arm_transmission name="${prefix}" />
+ <xacro:ur10_arm_gazebo name="${prefix}" />
</xacro:macro>
</robot>
diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro
index 00c9fb4493fce5bcdc97ac0a882c5821d54fef39..ec027faca1efb8a5b82f6367a4a456b2e4be09f7 100644
--- a/ur_description/urdf/ur10_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_robot.urdf.xacro
@@ -7,38 +7,12 @@
<!-- common stuff -->
<include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
- <!--include filename="$(find ur_description)/urdf/materials.urdf.xacro" /-->
<!-- ur10 -->
<include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
- <!-- foot for arm -->
- <link name="base_link">
- <inertial>
- <origin xyz="0 0 -10" rpy="0 0 0"/>
- <mass value="1000.0"/>
- <inertia ixx="100.0" ixy="0" ixz="0" iyy="100.0" iyz="0" izz="100.0" />
- </inertial>
-
- <visual>
- <origin xyz="0 0 0.25" rpy="0 0 0" />
- <geometry>
- <cylinder radius="0.1" length="0.5"/>
- </geometry>
- <material name="Grey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0.25" rpy="0 0 0" />
- <geometry>
- <cylinder radius="0.1" length="0.5"/>
- </geometry>
- </collision>
- </link>
-
<!-- arm -->
- <xacro:ur10_robot name="arm" parent="base_link">
- <origin xyz="0 0 0.5" rpy="0 0 0" />
+ <xacro:ur10_robot prefix="">
</xacro:ur10_robot>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 6f5ee47849863334c631ba1e9ff2647f4a5c080f..aca612375cb0dc1c58ec100fb5d754bc2da79c8b 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -5,8 +5,9 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">
-<include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
+ <include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
<include filename="$(find ur_description)/urdf/ur5.gazebo.xacro" />
+ <include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
@@ -250,37 +251,6 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
</joint>
<link name="${prefix}ee_link" />
-
-
-
- <!-- Extra links for collision model -->
- <!-- Somehow don't work with gazebo TODO: fix this
- <joint name="${prefix}shoulder_collision_joint" type="fixed">
- <parent link="${prefix}upper_arm_link" />
- <child link = "${prefix}shoulder_collision_link" />
- </joint>
- <link name="${prefix}shoulder_collision_link">
- <collision>
- <geometry>
- <cylinder length="${shoulder_collision_length}" radius="${shoulder_radius}"/>
- </geometry>
- <origin xyz="0.0 ${-shoulder_collision_offset} 0.0" rpy="${-pi / 2.0} 0.0 0.0" />
- </collision>
- </link>
-
- <joint name="${prefix}elbow_collision_joint" type="fixed">
- <parent link="${prefix}upper_arm_link" />
- <child link = "${prefix}elbow_collision_link" />
- </joint>
- <link name="${prefix}elbow_collision_link">
- <collision>
- <geometry>
- <cylinder length="${elbow_collision_length}" radius="${elbow_radius}"/>
- </geometry>
- <origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
- </collision>
- </link>
- -->
<xacro:ur_arm_transmission name="${prefix}" />
diff --git a/ur_description/urdf/ur5_robot.urdf.xacro b/ur_description/urdf/ur5_robot.urdf.xacro
index f1a7359960615cce3836804d996d2a46013af515..367d05438972f7f900f5f56c462dacd38f57e968 100644
--- a/ur_description/urdf/ur5_robot.urdf.xacro
+++ b/ur_description/urdf/ur5_robot.urdf.xacro
@@ -7,7 +7,6 @@
<!-- common stuff -->
<include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
- <include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<!-- ur5 -->
<include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />