From 5d4911605547ac5ea9e94b0cd5aa96cdf59abbbc Mon Sep 17 00:00:00 2001
From: Paul Gesel <paulgesel@gmail.com>
Date: Fri, 23 Feb 2024 08:18:33 -0700
Subject: [PATCH] use yaml substitution instead of xacro logic

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
---
 .../description/picknik_ur_macro.xacro          | 17 +++--------------
 src/picknik_ur_gazebo_config/config/config.yaml |  9 ++++++---
 2 files changed, 9 insertions(+), 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
index 52525cc1..d1779980 100644
--- 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
index 093f0fcc..a4cd4b48 100644
--- 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: