Felix Exner (fexner)

MoveIt config has been added in #538, updating my [summary comment above](https://github.com/ros-industrial/universal_robot/issues/460#issuecomment-571532451).

I think that the macro files here should stay as they are, as their purpose is to abstract the parametrization away. I would also vote for fixing this inside the...

I'll remove the wrid21 label as this is nothing that can be worked on directly. I'm not sure whether this can be resolved on this level, but to further clarify...

We could also include moveit launchfiles into the drivers that utilize `ur_x_moveit_config` and map the correct controller.

I just checked on ROS melodic with xacro `1.13.17-1bionic.20220214.135922` where it also complains about `load_yaml`. @jakobbak I don't really think this is a versioning problem?

As this PR is branching of `melodic-devel-staging` none of the models use the updated cog from #504. Eventually, this should be changed for all 7 robot variants, though.

> I will change this for the remaining URs now. > > > As this PR is branching of `melodic-devel-staging` none of the models use the updated cog from #504....

I've done a quick&dirty implementation for a UR16e to test #504: https://github.com/fmauch/universal_robot/tree/effort_controller I can move the robot, but the PID values are far from good, I think.

This should probably be fixed on the melodic-devel-staging branch as it was in #538, specifically c3fdfefa93a89e49674439ca44120d4ad80556a5.

As I couldn't find it anywhere: It might be worthwhile mentioning explicitly that with #371 the `urX_e_moveit_config` packages are broken, as they refer to `ur_e_description` and `urdf/urX_e_robot.urdf.xacro`. I assume that...