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Replace xacro.py to xacro --inorder #12

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Replace xacro.py to xacro --inorder #12

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4 changes: 2 additions & 2 deletions dependencies/ur_description/launch/ur10_upload.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,6 @@
<launch>
<arg name="limited" default="false"/>

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
</launch>
4 changes: 2 additions & 2 deletions dependencies/ur_description/launch/ur5_upload.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,6 @@
<launch>
<arg name="limited" default="false"/>

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
</launch>
4 changes: 2 additions & 2 deletions ur_driver/launch/ur10_real.launch
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Expand Up @@ -8,9 +8,9 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />


<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />

<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />


<!-- load configuration -->
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4 changes: 2 additions & 2 deletions ur_driver/launch/ur10_sim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,9 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />


<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />

<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />


<!-- load configuration -->
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6 changes: 3 additions & 3 deletions ur_driver/launch/ur5_real.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,10 @@
<arg name="limited" default="false"/>

<!-- load robot model -->
<!--<param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/cells/ipa325_ur5_empty.urdf.xacro'" />-->
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<!--<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/cells/ipa325_ur5_empty.urdf.xacro'" />-->
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />

<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />

<!-- start robot state publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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6 changes: 3 additions & 3 deletions ur_driver/launch/ur5_sim.launch
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,10 @@
<arg name="limited" default="false"/>

<!-- load robot model -->
<!--<param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/cells/ipa325_ur5_empty.urdf.xacro'" />-->
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<!--<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/cells/ipa325_ur5_empty.urdf.xacro'" />-->
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />

<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />

<!-- start robot state publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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