universal_robot
universal_robot copied to clipboard
description: Should the load_urXX.launch files use the robot-specific macros?
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?