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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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description: Should the load_urXX.launch files use the robot-specific macros? #585

Closed fmauch closed 1 year ago

fmauch commented 3 years ago

As risen in https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/471 the robot model loaded by the load_urXX.launch files of ur_description create a robot called ur:

https://github.com/ros-industrial/universal_robot/blob/0101cae607c9a8e7fc72934849eb4f2343e58ded/ur_description/urdf/ur.xacro#L2

When used with the moveit_config packages (see #538), this name clashes with the SRDF files configured there, when the moveit startup should not re-load the description. It might be a good idea to use the named macros inside the load_urXX.launch files.

Is there anything speaking against this?

RobertWilbrandt commented 1 year ago

I cannot quite track the intention mentioned in the title, but is this still relevant? As of #538 MoveIt by default doesn't load its own description anymore and #615 made sure that the srdf robot name matches the urdf.

fmauch commented 1 year ago

You're right, this should have been resolved by now.