(ur_control.launch.py) custom description file from custom pkg about universal_robots_ros2_driver HOT 7 CLOSED

Thank you for the issue, this was introduced in #877 and seems like an oversight to me. I'll create a PR to fix this.

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I have now implemented the following change for myself. Let me know you want to a PR with this solution.

Change the default value of the description_file DeclareLaunchArgument to PathJoinSubstitution([FindPackageShare("ur_robot_driver"), "urdf", "ur.urdf.xacro"]),
and just replace

But I could also see, you will move all the urdf/xacro files to ur_description. Then you can use description_package. But than you can't use default xacro, with custom calibration files.

So let me know what you want.

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Hey @RobertWilbrandt there's a similar issue but with the moveit_config_package variable in ur_moveit.launch.py where this variable is used to set the package for the srdf, rviz, kinematics, and other configurations. It would probably be best to have separate variables for some of these that would most likely have different values in a custom project.

That could also be said for the description_package variable in the same file, since it dictates the package for the urdf and yaml parameters.

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Oh yeah it makes sense that we had to take a urdf from a package different from description_package at that point, as we wanted to move all specific driver / gazebo / ignition parts out of the description package. Maybe we have to do some restructuring here, e.g. have some new kinematics_package argument to load the yamls from and use description_package for the urdf again. Do you have any thoughts on this @fmauch @VinDp ?

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@RobertWilbrandt Yeah just another heads up, the Gazebo ROS2 simulation package would also have to be updated. It also uses those packages, so changing them would break that package as well..

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Thanks, yeah i think we have to go through all ur packages and see how this is handled after the change.

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We're currently in the processing of updating things, see #977 and ros-controls/ros2_control#1501

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