ur_description and ur_gazebo are improved and simplified

[BobbyCephy]

• Model specific xacro and launch files are replaced by generic ones.

• Default arguments and parameters are only defined once in lowest level files by replacing empty strings.

• Properties that are same as default are omitted.

• All properties are overridable in upper level files.

• Arguments and parameters are redefined less by _pass_allargs in launch files and using upper level parameters in xacro files.

• robot_model is changed to model for easier calling for example of: roslaunch ur_description view.launch model:=ur3

• Macros usifilesng configuration data for link, Gazebo reference link, fixed and revolute joint are added.

• Following link and joint names are changed for consistent naming, which is desirable for link and joint macros: base_link_inertia to base_inertia_link elbow_joint to elbow in _jointlimits.yaml upperarm to upper_arm in _physicalparameters.yaml and of mesh files

• Offset parameters of meshes are added in _visualparameters.yaml, addressing in macro.xacro:

  <link name="${prefix}wrist_1_link">
    <visual>
      <!-- TODO: Move this to a parameter -->
      <origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/>

• transmission_hw_interface only needs to contain e, v or p in lower or upper case, as an abbreviation, to be replaced by _hardwareinterface/EffortJointInterface, _hardwareinterface/PositionJointInterface or _hardwareinterface/VelocityJointInterface.

• Fractions and squares are added in the cylinder_inertial macro.

• Gazebo arguments _initial_jointpositions, _worldpose and unpause at spawning argument are added to control.launch, as by the _moveit_setupassistant.

• Naming of properties, files and directory structure is simplified, comments and format adjusted.

[gavanderhoorn]

Thanks for the PR.

Let me start by a comment on form, not function.

The PR consists of a single commit, changing the following this (from your commit comment):

• Model specific xacro and launch files replaced by generic ones.
• Default arguments and parameters only defined once in lowest level files by replacing empty strings.
• Omit properties same as default. Still all properties can be overridden in upper level files.
• Less redefining of arguments and parameters by pass_all_args in launch and using upper level parameters in xacro files.
• transmission_hw_interface only needs to contain parts of position, velocity or effort in lower or upper case.
• Names of properties, files and directory structure simplified.
• Macro for individual transmission and fixed joint added.
• Fractions and squares cylinder_inertial macro.
• initial_joint_positions, full world_pose and unpause argument at spawning added to control.launch, as by moveit_setup_assistant.
• robot_model changed to model for easier calling for example: roslaunch ur_gazebo bringup.launch model:=ur5

It touches 98 files.

In its current form, this is difficult to review.

I would suggest to split it up into multiple commits, each introducing (a) coherent set(s) of changes.

As an additional comment, let me also say that (some of) the duplication here was on purpose: in my years of maintaining (ROS) software, I've noticed (and have had the feedback) that the more parameters or arguments something takes, the complexer things become.

Users with programming experience typically do not mind too much, as they are used to variability and configuring that variability using parameters (arguments to functions fi).

Users with other backgrounds tend to appreciate a single file which caters to their use-case, with other files for other use-cases.

It's very clear you have to work with files ending in _ur3 fi if you have a UR3.

At first glance, this PR seems to go in the more-parameters direction. That's not necessarily a bad thing, but I do believe we should be mindful of the complexity of things and how changes like these potentially impact the experience of users.

[gavanderhoorn]

I would perhaps also suggest to describe your motivation for this PR.

Why did you change things, and why did you change them in this particular way?

[BobbyCephy]

Thank you for your quick and extensive reply! I am going to split the commit in the suggested changes. The large number of touched files is mainly caused by replacing model specific with single generic ones. The only new parameter and argument is actually only model? I guess it is easier having only a few files in a single folder to check, which is needed and not many ones that are nearly the same. The only differing model argument should be quickly realized. The main advantage of few generic files is only having to apply changes at a single place, which makes maintaining a lot easier.

[gavanderhoorn]

The main advantage of few generic files is only having to apply changes at a single place, which makes maintaining a lot easier.

while I don't disagree, this is probably exactly where the trade-off lies.

Do we optimise for maintenance effort, or for user experience?

Given the fact these are ROS 1 xacro:macros, I'm not sure how much we gain by re-arranging things so late 'in the game'.

[BobbyCephy]

I think it is worth reducing the number of specific and generic files to a seventh by introducing one additional parameter. The user experience should be improved as well, since it is easier to get an overview of a small set of files. In my opinion it is never to late for improvements. Even if few benefit from them directly, one can learn from them in future projects. A compromise might be a script, that generates specific from generic files on demand, that are ignored by git?