use yaml substitution instead of xacro logic

Signed-off-by: Paul Gesel <[email protected]>
PickNikRobotics · Feb 23, 2024 · 5d49116 · 5d49116
1 parent 7f244a3
commit 5d49116
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Showing 2 changed files with 9 additions and 17 deletions.
diff --git a/src/picknik_ur_base_config/description/picknik_ur_macro.xacro b/src/picknik_ur_base_config/description/picknik_ur_macro.xacro
@@ -36,17 +36,6 @@
         <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
         <xacro:property name="simulation" default="$(arg simulation)"/>
         <xacro:property name="visual_parameters_file" default="$(arg visual_parameters_file)"/>
-        <xacro:if value="${not visual_parameters_file == ''}">
-            <xacro:property name="visual_parameters_file_full_path" default="$(arg visual_parameters_file)/$(arg name)/visual_parameters.yaml"/>
-        </xacro:if>
-        <xacro:property name="physical_parameters_file" default="$(arg physical_parameters_file)"/>
-        <xacro:if value="${not physical_parameters_file == ''}">
-            <xacro:property name="physical_parameters_file_full_path" default="$(arg physical_parameters_file)/$(arg name)/physical_parameters.yaml"/>
-        </xacro:if>
-        <xacro:property name="kinematics_parameters_file" default="$(arg kinematics_parameters_file)"/>
-        <xacro:if value="${not kinematics_parameters_file == ''}">
-            <xacro:property name="kinematics_parameters_file_full_path" default="$(arg kinematics_parameters_file)/$(arg name)/default_kinematics.yaml"/>
-        </xacro:if>
         <xacro:if value="${simulation == 'gazebo'}">
             <xacro:property name="use_fake_hardware" default="false"/>
         </xacro:if>
@@ -61,9 +50,9 @@
                 tf_prefix=""
                 parent="${parent}"
                 joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
-                kinematics_parameters_file="${kinematics_parameters_file_full_path}"
-                physical_parameters_file="${physical_parameters_file_full_path}"
-                visual_parameters_file="${visual_parameters_file_full_path}"
+                kinematics_parameters_file="$(arg kinematics_parameters_file)"
+                physical_parameters_file="$(arg physical_parameters_file)"
+                visual_parameters_file="$(arg visual_parameters_file)"
                 use_fake_hardware="${use_fake_hardware}"
                 initial_positions="${xacro.load_yaml(initial_positions_file)}"
                 sim_ignition="${simulation == 'gazebo'}"

diff --git a/src/picknik_ur_gazebo_config/config/config.yaml b/src/picknik_ur_gazebo_config/config/config.yaml
@@ -61,14 +61,17 @@ hardware:
       # ogre2 (which is the Gazebo default) is also an option if your system supports it.
       - gazebo_renderer: ${GAZEBO_RENDERER:-ogre}
       - kinematics_parameters_file:
+          # Load default_kinematics.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config"
+          path: "config/%>> hardware.type <<%/default_kinematics.yaml"
       - physical_parameters_file:
+          # Load physical_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config"
+          path: "config/%>> hardware.type <<%/physical_parameters.yaml"
       - visual_parameters_file:
+          # Load visual_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config"
+          path: "config/%>> hardware.type <<%/visual_parameters.yaml"
 
 # Override MoveIt parameters
 moveit_params: