enable self collision in gazebo

ur_description/urdf/ur10.gazebo.xacro

@@ -2,7 +2,29 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="ur10_arm_gazebo" params="prefix">
-    <!-- nothing to do here at the moment -->
+    
+    <gazebo reference="${prefix}shoulder_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}upper_arm_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}forearm_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_1_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_3_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_2_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}ee_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    
   </xacro:macro>
 
 </robot>

ur_description/urdf/ur5.gazebo.xacro

@@ -2,7 +2,29 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="ur5_arm_gazebo" params="prefix">
-    <!-- nothing to do here at the moment -->
+    
+    <gazebo reference="${prefix}shoulder_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}upper_arm_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}forearm_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_1_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_3_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_2_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}ee_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    
   </xacro:macro>
 
 </robot>