From 4dbb5a2b933d36f3add7bb43f8c02c3319c0cfab Mon Sep 17 00:00:00 2001
From: Toni Oliver <toni@shadowrobot.com>
Date: Thu, 21 May 2020 14:11:09 +0000
Subject: [PATCH 1/2] Add a parameter to choose the hardware interface for the
 e-series (like the one in non-e)

---
 ur_e_description/urdf/ur.transmission.xacro | 16 ++++++++--------
 ur_e_description/urdf/ur10e.urdf.xacro      |  2 +-
 ur_e_description/urdf/ur3e.urdf.xacro       |  2 +-
 ur_e_description/urdf/ur5e.urdf.xacro       |  2 +-
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ur_e_description/urdf/ur.transmission.xacro b/ur_e_description/urdf/ur.transmission.xacro
index 4b2d12630..b85cc6e77 100644
--- a/ur_e_description/urdf/ur.transmission.xacro
+++ b/ur_e_description/urdf/ur.transmission.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
 
-  <xacro:macro name="ur_arm_transmission" params="prefix">
+  <xacro:macro name="ur_arm_transmission" params="prefix hw_interface">
 
     <transmission name="${prefix}shoulder_pan_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_pan_joint">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_pan_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -16,7 +16,7 @@
     <transmission name="${prefix}shoulder_lift_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_lift_joint">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_lift_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -26,7 +26,7 @@
     <transmission name="${prefix}elbow_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}elbow_joint">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}elbow_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -36,7 +36,7 @@
     <transmission name="${prefix}wrist_1_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_1_joint">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_1_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -46,7 +46,7 @@
     <transmission name="${prefix}wrist_2_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_2_joint">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_2_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -56,7 +56,7 @@
     <transmission name="${prefix}wrist_3_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_3_joint">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_3_motor">
         <mechanicalReduction>1</mechanicalReduction>
diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro
index 20113e75a..1d22e82e9 100644
--- a/ur_e_description/urdf/ur10e.urdf.xacro
+++ b/ur_e_description/urdf/ur10e.urdf.xacro
@@ -344,7 +344,7 @@
       </collision>
     </link>
 
-    <xacro:ur_arm_transmission prefix="${prefix}" />
+    <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
     <xacro:ur_arm_gazebo prefix="${prefix}" />
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro
index cff722196..37fb60513 100644
--- a/ur_e_description/urdf/ur3e.urdf.xacro
+++ b/ur_e_description/urdf/ur3e.urdf.xacro
@@ -342,7 +342,7 @@
       </collision>
     </link>
 
-    <xacro:ur_arm_transmission prefix="${prefix}" />
+    <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
     <xacro:ur_arm_gazebo prefix="${prefix}" />
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro
index c0a3f23dc..ec1399a3b 100644
--- a/ur_e_description/urdf/ur5e.urdf.xacro
+++ b/ur_e_description/urdf/ur5e.urdf.xacro
@@ -342,7 +342,7 @@
       </collision>
     </link>
 
-    <xacro:ur_arm_transmission prefix="${prefix}" />
+    <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
     <xacro:ur_arm_gazebo prefix="${prefix}" />
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->

From a8e8b59a0c44ea5951cf2efcb877050b3ffd52ef Mon Sep 17 00:00:00 2001
From: Toni Oliver <toni@shadowrobot.com>
Date: Wed, 27 May 2020 14:48:14 +0000
Subject: [PATCH 2/2] Add hardware_interface parameter to e-series launchfiles
 and to joint_limited xacros

---
 ur_e_description/launch/ur10e_upload.launch                | 3 +++
 ur_e_description/launch/ur3e_upload.launch                 | 3 +++
 ur_e_description/launch/ur5e_upload.launch                 | 3 +++
 ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro | 3 +++
 ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro  | 3 +++
 ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro  | 3 +++
 6 files changed, 18 insertions(+)

diff --git a/ur_e_description/launch/ur10e_upload.launch b/ur_e_description/launch/ur10e_upload.launch
index 1ed5b49c3..041bf778b 100644
--- a/ur_e_description/launch/ur10e_upload.launch
+++ b/ur_e_description/launch/ur10e_upload.launch
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
 
   <param unless="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_robot.urdf.xacro'
+      transmission_hw_interface:=$(arg transmission_hw_interface)
       kinematics_config:=$(arg kinematics_config)"
     />
   <param if="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_joint_limited_robot.urdf.xacro'
+      transmission_hw_interface:=$(arg transmission_hw_interface)
       kinematics_config:=$(arg kinematics_config)"
     />
 </launch>
diff --git a/ur_e_description/launch/ur3e_upload.launch b/ur_e_description/launch/ur3e_upload.launch
index 1b2893db8..583e4e342 100644
--- a/ur_e_description/launch/ur3e_upload.launch
+++ b/ur_e_description/launch/ur3e_upload.launch
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
 
   <param unless="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_robot.urdf.xacro'
+      transmission_hw_interface:=$(arg transmission_hw_interface)
       kinematics_config:=$(arg kinematics_config)"
     />
   <param if="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_joint_limited_robot.urdf.xacro'
+      transmission_hw_interface:=$(arg transmission_hw_interface)
       kinematics_config:=$(arg kinematics_config)"
     />
 </launch>
diff --git a/ur_e_description/launch/ur5e_upload.launch b/ur_e_description/launch/ur5e_upload.launch
index 5db19d887..a4d0e8d98 100644
--- a/ur_e_description/launch/ur5e_upload.launch
+++ b/ur_e_description/launch/ur5e_upload.launch
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
 
   <param unless="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_robot.urdf.xacro'
+      transmission_hw_interface:=$(arg transmission_hw_interface)
       kinematics_config:=$(arg kinematics_config)"
     />
   <param if="$(arg limited)" name="robot_description"
     command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_joint_limited_robot.urdf.xacro'
+      transmission_hw_interface:=$(arg transmission_hw_interface)
       kinematics_config:=$(arg kinematics_config)"
     />
 </launch>
diff --git a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
index c5ad6f927..ea786c493 100644
--- a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
@@ -2,6 +2,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
   name="ur10e" >
 
+  <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -17,6 +19,7 @@
     wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
     wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
     wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
+    transmission_hw_interface="$(arg transmission_hw_interface)"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
     />
 
diff --git a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
index 617a20746..8b770e25c 100644
--- a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
@@ -2,6 +2,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="ur3e" >
 
+  <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -17,6 +19,7 @@
     wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
     wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
     wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
+    transmission_hw_interface="$(arg transmission_hw_interface)"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />
 
diff --git a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
index 87ed0a80f..f9ccb4cc7 100644
--- a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
+++ b/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
@@ -2,6 +2,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="ur5e" >
 
+  <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+
   <!-- common stuff -->
   <xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
 
@@ -17,6 +19,7 @@
     wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
     wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
     wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
+    transmission_hw_interface="$(arg transmission_hw_interface)"
     kinematics_file="${load_yaml('$(arg kinematics_config)')}"
   />