change gazebo launch file and tests

* added e-series

ur_gazebo/launch/ur10.launch

@@ -1,31 +1,24 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
+  <!--ur10 parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
+  <!-- gazebo parameters-->
   <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
 
   <!-- send robot urdf to param server -->
-  <include file="$(find ur_description)/launch/ur10_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
+  <include file="$(find ur_gazebo)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
-
-  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
-
   <!-- start this controller -->
   <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/>
   <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
 </launch>

ur_gazebo/launch/ur10e.launch

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur10e parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
+
+  <!-- send robot urdf to param server -->
+  <include file="$(find ur_gazebo)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- start this controller -->
+  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/>
+  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
+
+</launch>

ur_gazebo/launch/ur3.launch

@@ -1,31 +1,24 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <!--ur3 parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
+  <!-- gazebo parameters-->
   <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
 
   <!-- send robot urdf to param server -->
-  <include file="$(find ur_description)/launch/ur3_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
+  <include file="$(find ur_gazebo)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
-
-  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
-
   <!-- start this controller -->
   <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/>
   <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
 </launch>

ur_gazebo/launch/ur3e.launch

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur3e parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
+
+  <!-- send robot urdf to param server -->
+  <include file="$(find ur_gazebo)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- start this controller -->
+  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/>
+  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
+
+</launch>

ur_gazebo/launch/ur5.launch

@@ -1,31 +1,24 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
+  <!--ur5 parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
+  <!-- gazebo parameters-->
   <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
   <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
 
   <!-- send robot urdf to param server -->
-  <include file="$(find ur_description)/launch/ur5_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
+  <include file="$(find ur_gazebo)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
-
-  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
-
   <!-- start this controller -->
   <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/>
   <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
 
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
 </launch>

ur_gazebo/launch/ur5e.launch

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <!--ur5e parameters files -->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
+  <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
+  <!-- gazebo parameters-->
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
+
+  <!-- send robot urdf to param server -->
+  <include file="$(find ur_gazebo)/launch/ur_common.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+    <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- start this controller -->
+  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/>
+  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
+
+</launch>

ur_gazebo/launch/ur_common.launch

@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- urdf model related parameters -->
+  <arg name="joints_limits_params" doc="YAML file containing the joints limits values"/>
+  <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
+  <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
+
+  <!-- common parameters -->
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
+  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
+  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
+
+  <!-- gazebo parameters -->
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- set robot urdf to param server -->
+    <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur_robot.urdf.xacro' --inorder 
+      joints_limits_params:=$(arg joints_limits_params) 
+      physical_params:=$(arg physical_params) 
+      visual_params:=$(arg visual_params) 
+      transmission_hw_interface:=$(arg transmission_hw_interface)
+      safety_limits:=$(arg safety_limits)
+      safety_pos_margin:=$(arg safety_pos_margin)
+      safety_k_position:=$(arg safety_k_position)"
+    />
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
+
+  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
+
+  <!-- load other controllers -->
+  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
+
+</launch>

ur_gazebo/tests/roslaunch_test.xml

@@ -13,20 +13,16 @@
     <include file="$(find ur_gazebo)/launch/ur10.launch"/>
   </group>
 
-  <group ns="ur3_joint_limited__">
-    <include file="$(find ur_gazebo)/launch/ur3_joint_limited.launch"/>
+  <group ns="ur3e__">
+    <include file="$(find ur_gazebo)/launch/ur3e.launch"/>
   </group>
 
-  <group ns="ur5_joint_limited__">
-    <include file="$(find ur_gazebo)/launch/ur5_joint_limited.launch"/>
+  <group ns="ur5e__">
+    <include file="$(find ur_gazebo)/launch/ur5e.launch"/>
   </group>
 
-  <group ns="ur10_joint_limited__">
-    <include file="$(find ur_gazebo)/launch/ur10_joint_limited.launch"/>
+  <group ns="ur10e__">
+    <include file="$(find ur_gazebo)/launch/ur10e.launch"/>
   </group>
 
-  <group ns="controller_utils__">
-    <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
-  </group>
-
-</launch>
+</launch>