XACRO to URDF

[BlueNexus6675]

Hi, I'm trying to generate a UR5 .urdf, for use in Isaac Sim. I've followed a similar answer from #459 but I keep getting an error.

@danzimmerman suggested running: ros2 run xacro xacro ur.urdf.xacro ur_type:=ur10e name:=some_robot_name > ur10e.urdf

I tried to execute: ros2 run xacro xacro ur.urdf.xacro ur_type:=ur5 name:=some_robot_name > GeneratedUR5.urdf and got the error:

nexusros@CitadelRos:~/Documents/workspace/ros_ur_driver/install/ur_description/share/ur_description/urdf$ ros2 run xacro xacro ur.urdf.xacro ur_type:=ur5 name:=some_robot_name > GeneratedUR5.urdf

[Errno 2] No such file or directory: '' 
when evaluating expression 'load_yaml(joint_limits_parameters_file)' 
when evaluating expression 'config_joint_limit_parameters['joint_limits']' 
when evaluating expression 'sec_limits['shoulder_pan']['min_position']'
when instantiating macro: read_model_data (/home/nexusros/Documents/workspace/ros_ur_driver/install/ur_description/share/ur_description/urdf/inc/ur_common.xacro)
instantiated from: ur_robot (/home/nexusros/Documents/workspace/ros_ur_driver/install/ur_description/share/ur_description/urdf/ur_macro.xacro)
in file: ur.urdf.xacro

I thought I needed a joints limit file so I copied one from #220 and tried to execute that:

nexusros@CitadelRos:~/Documents/workspace/ros_ur_driver/install/ur_description/share/ur_description/urdf$ ros2 run xacro xacro ur.urdf.xacro ur_type:=ur5 ur_joint_limit_params:=./joint_limits.yaml name:=some_robot_name > GeneratedUR5.urdf

[Errno 2] No such file or directory: '' 
when evaluating expression 'load_yaml(joint_limits_parameters_file)' 
when evaluating expression 'config_joint_limit_parameters['joint_limits']' 
when evaluating expression 'sec_limits['shoulder_pan']['min_position']'
when instantiating macro: read_model_data (/home/nexusros/Documents/workspace/ros_ur_driver/install/ur_description/share/ur_description/urdf/inc/ur_common.xacro)
instantiated from: ur_robot (/home/nexusros/Documents/workspace/ros_ur_driver/install/ur_description/share/ur_description/urdf/ur_macro.xacro)
in file: ur.urdf.xacro

I'm kind of stuck and out of ideas so any help would be greatly appreciated. I'm using ROS2 Foxy

[RobertWilbrandt]

The ur description is built in a way that uses one common URDF structure for all robot arms and loads all robot-specific parameters from config yaml files. Apart from the joint limits, you need at least the kinematic + physical + visual parameter files. You can take a look at the view_ur.launch.py file to see how these can be set.

In your case, try

ros2 run xacro xacro $(ros2 pkg prefix ur_description --share)/urdf/ur.urdf.xacro \
  name:=ur5 \
  joint_limit_params:=$(ros2 pkg prefix ur_description --share)/config/ur5/joint_limits.yaml \
  physical_params:=$(ros2 pkg prefix ur_description --share)/config/ur5/physical_parameters.yaml \
  kinematics_params:=$(ros2 pkg prefix ur_description --share)/config/ur5/default_kinematics.yaml \
  visual_params:=$(ros2 pkg prefix ur_description --share)/config/ur5/visual_parameters.yaml