Make UR base config work with any UR arm

src/picknik_ur_base_config/config/base_config.yaml

@@ -68,10 +68,10 @@ hardware:
   robot_description:
     urdf:
       package: "picknik_ur_base_config"
-      path: "description/picknik_ur5e.xacro"
+      path: "description/picknik_ur.xacro"
     srdf:
       package: "picknik_ur_base_config"
-      path: "config/moveit/picknik_ur5e.srdf"
+      path: "config/moveit/picknik_ur.srdf"
     # Specify any additional parameters required for the URDF.
     # Many of these are specific to the UR descriptions packages, and can be customized as needed.
     # [Optional]
@@ -90,17 +90,17 @@ hardware:
       # To use parameters from a different package, place them in a config/ROBOT_NAME/ directory,
       # replace ROBOT_NAME with the value used for hardware.type in this file.
       - kinematics_parameters_file:
-      # Load default_kinematics.yaml from ur_description/config/ur5e
+      # Load default_kinematics.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/ur5e/default_kinematics.yaml"
+          path: "config/%>> hardware.type <<%/default_kinematics.yaml"
       - physical_parameters_file:
-      # Load physical_parameters.yaml from ur_description/config/ur5e
+      # Load physical_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/ur5e/physical_parameters.yaml"
+          path: "config/%>> hardware.type <<%/physical_parameters.yaml"
       - visual_parameters_file:
-      # Load visual_parameters.yaml from ur_description/config/ur5e
+      # Load visual_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/ur5e/visual_parameters.yaml"
+          path: "config/%>> hardware.type <<%/visual_parameters.yaml"
 
 # Sets ROS global params for launch.
 # [Optional]
@@ -133,7 +133,7 @@ moveit_params:
     path: "config/moveit/pick_ik_kinematics.yaml"
   servo:
     package: "picknik_ur_base_config"
-    path: "config/moveit/ur5e_servo.yaml"
+    path: "config/moveit/ur_servo.yaml"
   sensors_3d:
     package: "picknik_ur_base_config"
     path: "config/moveit/sensors_3d.yaml"
@@ -172,7 +172,7 @@ ui_params:
 ros2_control:
   config:
     package: "picknik_ur_base_config"
-    path: "config/control/picknik_ur5e.ros2_control.yaml"
+    path: "config/control/picknik_ur.ros2_control.yaml"
   # MoveIt Studio will load and activate these controllers at start up to ensure they are available.
   # If not specified, it is up to the user to ensure the appropriate controllers are active and available
   # for running the application.
@@ -223,4 +223,4 @@ objectives:
   # [Required]
   waypoints_file:
     package_name: "picknik_ur_base_config"
-    relative_path: "waypoints/ur5e_waypoints.yaml"
+    relative_path: "waypoints/ur_waypoints.yaml"