ur机器人ros-urdf

新建工作空间

mkdir -p ~/catkin_ws/src
cd catkin_ws_ur5/src
git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git
cd ..
rosdep update
rosdep install --rosdistro melodic --ignore-src --from-paths src
catkin_make
source ~/catkin_ws/devel/setup.bash

测试

roslaunch ur_description view_ur5.launch

在这里插入图片描述

添加夹爪

view_ur5_gripper.launch文件(修改rviz配置)

包含 load_ur5_gripper.launch

<?xml version="1.0"?>
<launch>

<!-- change -->
  <!-- <include file="$(find ur_description)/launch/load_ur5.launch"/> -->
  <include file="$(find ur_description)/launch/load_ur5_gripper.launch"/>

  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>

load_ur5_gripper.launch文件

包含load_ur_gripper.launch

<?xml version="1.0"?>
<launch>
  <!--ur5 parameters files -->
  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
  <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
  <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
  <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
  <!--common parameters -->
  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

  <arg name="robot_model" value="ur5" />

  <!-- use common launch file and pass all arguments to it -->
  <!-- change -->
  <include file="$(find ur_description)/launch/load_ur_gripper.launch" pass_all_args="true"/>
  <!-- <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/> -->
</launch>

load_ur_gripper.launch

robot_description command设置为’$(find ur_description)/urdf/ur5_gripper.xacro’

<?xml version="1.0"?>
<launch>
  <!--ur parameters files -->
  <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
  <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
  <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
  <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
  <!--common parameters  -->
  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
  <arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
  <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
  <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />

  <arg name="robot_model" />
  <!-- 固定写法-->
  <!-- change -->
  <!-- <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur.xacro' -->
  <!-- <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur_gripper.xacro' -->
  <!-- 直接ur5_gripper.xacro更方便-->
  <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_gripper.xacro'
    robot_model:=$(arg robot_model)
    joint_limit_params:=$(arg joint_limit_params)
    kinematics_params:=$(arg kinematics_params)
    physical_params:=$(arg physical_params)
    visual_params:=$(arg visual_params)
    transmission_hw_interface:=$(arg transmission_hw_interface)
    safety_limits:=$(arg safety_limits)
    safety_pos_margin:=$(arg safety_pos_margin)
    safety_k_position:=$(arg safety_k_position)"
    />
</launch>

ur5_gripper.xacro （设置prefix值）

包含ur5_macro_gripper.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5_robot">
  <!--
    This is a convenience top-level xacro which loads the macro for the UR5e
    which defines the default values for the various "parameters files"
    parameters for a UR5e.

    This file is only useful when loading a stand-alone, completely isolated
    robot with only default values for all parameters such as the kinematics,
    visual and physical parameters and joint limits.

    This file is not intended to be integrated into a larger scene or other
    composite xacro.

    Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaults
    for the arguments to that macro.

    Refer to 'inc/ur_macro.xacro' for more information.
  -->

  <!-- change -->
  <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro.xacro"/> -->
  <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro_gripper.xacro"/>
  <xacro:ur5_robot prefix="" />
</robot>

ur5_macro_gripper.xacro (模型参数设置夹爪添加)

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
  
  <xacro:macro name="ur5_robot" params="
   prefix
   joint_limits_parameters_file:='$(find ur_description)/config/ur5/joint_limits.yaml'
   kinematics_parameters_file:='$(find ur_description)/config/ur5/default_kinematics.yaml'
   physical_parameters_file:='$(find ur_description)/config/ur5/physical_parameters.yaml'
   visual_parameters_file:='$(find ur_description)/config/ur5/visual_parameters.yaml'
   transmission_hw_interface:=hardware_interface/PositionJointInterface
   safety_limits:=false
   safety_pos_margin:=0.15
   safety_k_position:=20"
  >
    <!-- change -->
    <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/> -->
    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro_gripper.xacro"/>
    <xacro:ur_robot
      prefix="${prefix}"
      joint_limits_parameters_file="${joint_limits_parameters_file}"
      kinematics_parameters_file="${kinematics_parameters_file}"
      physical_parameters_file="${physical_parameters_file}"
      visual_parameters_file="${visual_parameters_file}"
      transmission_hw_interface="${transmission_hw_interface}"
      safety_limits="${safety_limits}"
      safety_pos_margin="${safety_pos_margin}"
      safety_k_position="${safety_k_position}"
    />
    
   <!-- base_link - world joint -->
    <link name="world" />

    <joint name="world_joint" type="fixed">
      <parent link="world" />
      <child link = "${prefix}base_link" />
      <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0" />
    </joint>
    
     <!--gripper-->
     <xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_85_model_macro.xacro" />
    <xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.urdf.xacro" />

    <xacro:robotiq_85_gripper prefix="" parent="${prefix}tool0" >
      <origin xyz="0 0 0" rpy="0 ${-pi/2} 0"/>
    </xacro:robotiq_85_gripper>

    <!--camera-->
 
     <xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" />
  
    <xacro:sensor_d415 parent="${prefix}base_link" use_nominal_extrinsics="false" add_plug="false" use_mesh="true">
      <origin xyz="0 0 1" rpy="0 0 0"/>
    </xacro:sensor_d415>
  </xacro:macro>
</robot>

ur_macro_gripper.xacro(定义joint 和 link 添加ee_link )

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

  <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
  <xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" />

  <xacro:macro name="ur_robot" params="
    prefix
    joint_limits_parameters_file
    kinematics_parameters_file
    physical_parameters_file
    visual_parameters_file
    transmission_hw_interface:=hardware_interface/PositionJointInterface
    safety_limits:=false
    safety_pos_margin:=0.15
    safety_k_position:=20"
  >
    <!-- Load configuration data from the provided .yaml files -->
    <xacro:read_model_data
      joint_limits_parameters_file="${joint_limits_parameters_file}" 
      kinematics_parameters_file="${kinematics_parameters_file}"
      physical_parameters_file="${physical_parameters_file}"
      visual_parameters_file="${visual_parameters_file}"/>

    <!-- Add URDF transmission elements (for ros_control) -->
    <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />

    <!-- links: main serial chain -->
    <link name="${prefix}base_link"/>

    <link name="${prefix}base_link_inertia">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <mesh filename="${base_visual_mesh}"/>
        </geometry>
        <material name="${base_visual_material_name}">
          <color rgba="${base_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <mesh filename="${base_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${base_inertia_radius}" length="${base_inertia_length}" mass="${base_mass}">
        <origin xyz="0 0 0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <link name="${prefix}shoulder_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <mesh filename="${shoulder_visual_mesh}"/>
        </geometry>
        <material name="${shoulder_visual_material_name}">
          <color rgba="${shoulder_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <mesh filename="${shoulder_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${shoulder_inertia_radius}" length="${shoulder_inertia_length}" mass="${shoulder_mass}">
        <origin xyz="0 0 0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <link name="${prefix}upper_arm_link">
      <visual>
        <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <mesh filename="${upper_arm_visual_mesh}"/>
        </geometry>
        <material name="${upper_arm_visual_material_name}">
          <color rgba="${upper_arm_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <mesh filename="${upper_arm_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${upperarm_inertia_radius}" length="${upperarm_inertia_length}" mass="${upper_arm_mass}">
        <origin xyz="${-0.5 * upperarm_inertia_length} 0.0 ${upper_arm_inertia_offset}" rpy="0 ${pi/2} 0" />
      </xacro:cylinder_inertial>
    </link>

    <link name="${prefix}forearm_link">
      <visual>
        <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <mesh filename="${forearm_visual_mesh}"/>
        </geometry>
        <material name="${forearm_visual_material_name}">
          <color rgba="${forearm_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <mesh filename="${forearm_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${forearm_inertia_radius}" length="${forearm_inertia_length}"  mass="${forearm_mass}">
        <origin xyz="${-0.5 * forearm_inertia_length} 0.0 ${elbow_offset}" rpy="0 ${pi/2} 0" />
      </xacro:cylinder_inertial>
    </link>

    <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"/>
        <geometry>
          <mesh filename="${wrist_1_visual_mesh}"/>
        </geometry>
        <material name="${wrist_1_visual_material_name}">
          <color rgba="${wrist_1_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/>
        <geometry>
          <mesh filename="${wrist_1_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${wrist_1_inertia_radius}" length="${wrist_1_inertia_length}"  mass="${wrist_1_mass}">
        <origin xyz="0 0 0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <link name="${prefix}wrist_2_link">
      <visual>
        <origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/>
        <geometry>
          <mesh filename="${wrist_2_visual_mesh}"/>
        </geometry>
        <material name="${wrist_2_visual_material_name}">
          <color rgba="${wrist_2_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/>
        <geometry>
          <mesh filename="${wrist_2_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${wrist_2_inertia_radius}" length="${wrist_2_inertia_length}"  mass="${wrist_2_mass}">
        <origin xyz="0 0 0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <link name="${prefix}wrist_3_link">
      <visual>
        <origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/>
        <geometry>
          <mesh filename="${wrist_3_visual_mesh}"/>
        </geometry>
        <material name="${wrist_3_visual_material_name}">
          <color rgba="${wrist_3_visual_material_color}"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/>
        <geometry>
          <mesh filename="${wrist_3_collision_mesh}"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${wrist_3_inertia_radius}" length="${wrist_3_inertia_length}"  mass="${wrist_3_mass}">
        <origin xyz="0.0 0.0 ${-0.5 * wrist_3_inertia_length}" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <!-- joints: main serial chain -->

    <!-- base_link-base_link_inertia -->
    <joint name="${prefix}base_link-base_link_inertia" type="fixed">
      <parent link="${prefix}base_link" />
      <child link="${prefix}base_link_inertia" />
      <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
           frames of the robot/controller have X+ pointing backwards.
           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
           link/frame) to introduce the necessary rotation over Z (of pi rad).
      -->
      <origin xyz="0 0 0" rpy="0 0 ${pi}" />
    </joint>

    <!-- shoulder_pan_joint -->
    <joint name="${prefix}shoulder_pan_joint" type="revolute">
      <parent link="${prefix}base_link_inertia" />
      <child link="${prefix}shoulder_link" />
      <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
        effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>

    <!-- shoulder_lift_joint -->
    <joint name="${prefix}shoulder_lift_joint" type="revolute">
      <parent link="${prefix}shoulder_link" />
      <child link="${prefix}upper_arm_link" />
      <origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"
        effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>

    <!-- elbow_joint -->
    <joint name="${prefix}elbow_joint" type="revolute">
      <parent link="${prefix}upper_arm_link" />
      <child link="${prefix}forearm_link" />
      <origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"
        effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>

    <!-- wrist_1_joint -->
    <joint name="${prefix}wrist_1_joint" type="revolute">
      <parent link="${prefix}forearm_link" />
      <child link="${prefix}wrist_1_link" />
      <origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"
        effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>

    <!-- wrist_2_joint -->
    <joint name="${prefix}wrist_2_joint" type="revolute">
      <parent link="${prefix}wrist_1_link" />
      <child link="${prefix}wrist_2_link" />
      <origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"
             effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>

    <!-- wrist_3_joint -->
    <joint name="${prefix}wrist_3_joint" type="revolute">
      <parent link="${prefix}wrist_2_link" />
      <child link="${prefix}wrist_3_link" />
      <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"
             effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>
    <!-- 添加ee_link -->
    <!-- ee_link -->
    <joint name="${prefix}ee_fixed_joint" type="fixed">
      <parent link="${prefix}wrist_3_link" />
      <child link = "${prefix}ee_link" />
      <!--origin xyz="0.0 ${wrist_3_length+0.155} 0.0" rpy="0.0 0.0 ${pi/2.0}" /-->
      <origin xyz="0.0  0.0 ${wrist_3_y+0.142}" rpy="0 0  0" />
    </joint>

    <!--link name="${prefix}ee_link">
      <collision>
        <geometry>
          <box size="0.01 0.01 0.01"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-0.01 0 0"/>
      </collision>
    </link-->
    <link name="${prefix}ee_link"/>

    <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
    <link name="${prefix}base"/>
    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
      <!-- Note the rotation over Z of pi radians: as base_link is REP-103
           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
           to correctly align 'base' with the 'Base' coordinate system of
           the UR controller.
      -->
      <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
      <parent link="${prefix}base_link"/>
      <child link="${prefix}base"/>
    </joint>

    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
    <link name="${prefix}flange" />
    <joint name="${prefix}wrist_3-flange" type="fixed">
      <parent link="${prefix}wrist_3_link" />
      <child link="${prefix}flange" />
      <origin xyz="0 0 0" rpy="0 ${-pi/2.0} ${-pi/2.0}" />
    </joint>

    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
    <link name="${prefix}tool0"/>
    <joint name="${prefix}flange-tool0" type="fixed">
      <!-- default toolframe: X+ left, Y+ up, Z+ front -->
      <origin xyz="0 0 0" rpy="${pi/2.0} 0 ${pi/2.0}"/>
      <parent link="${prefix}flange"/>
      <child link="${prefix}tool0"/>
    </joint>
  </xacro:macro>
</robot>

其他

ur_gripper.xacro (ur5_gripper.xacro 更方便)

包含ur_macro_gripper.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)_robot">

   <!-- import main macro -->
   <!-- change -->
   <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/> -->
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro_gripper.xacro"/>

   <!-- parameters -->
   <xacro:arg name="joint_limit_params" default=""/>
   <xacro:arg name="kinematics_params" default=""/>
   <xacro:arg name="physical_params" default=""/>
   <xacro:arg name="visual_params" default=""/>
   <!-- legal values:
         - hardware_interface/PositionJointInterface
         - hardware_interface/VelocityJointInterface
         - hardware_interface/EffortJointInterface
   -->
   <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
   <xacro:arg name="safety_limits" default="false"/>
   <xacro:arg name="safety_pos_margin" default="0.15"/>
   <xacro:arg name="safety_k_position" default="20"/>

   <!-- arm -->
   <xacro:ur_robot
     prefix=""
     joint_limits_parameters_file="$(arg joint_limit_params)"
     kinematics_parameters_file="$(arg kinematics_params)"
     physical_parameters_file="$(arg physical_params)"
     visual_parameters_file="$(arg visual_params)"
     transmission_hw_interface="$(arg transmission_hw_interface)"
     safety_limits="$(arg safety_limits)"
     safety_pos_margin="$(arg safety_pos_margin)"
     safety_k_position="$(arg safety_k_position)"/>
</robot>