Merge branch 'kinetic-devel' into fixMeshes

ur_description/urdf/ur.gazebo.xacro

@@ -2,7 +2,29 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:macro name="ur_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_kinematics/src/ur_moveit_plugin.cpp

@@ -175,12 +175,8 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,
 
   ros::NodeHandle private_handle("~");
   rdf_loader::RDFLoader rdf_loader(robot_description_);
-  const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();
-#if ROS_VERSION_MINIMUM(1, 13, 0) 
-  const std::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
-#else
-  const boost::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
-#endif
+  const srdf::ModelSharedPtr &srdf = rdf_loader.getSRDF();
+  const urdf::ModelInterfaceSharedPtr &urdf_model = rdf_loader.getURDF();
 
   if (!urdf_model || !srdf)
   {