ros-industrial · jwhendy · Apr 15, 2018 · Apr 15, 2018 · May 3, 2018 · May 5, 2018
diff --git a/kuka_kr210_support/launch/load_kr210l150.launch b/kuka_kr210_support/launch/load_kr210l150.launch
@@ -1,3 +1,5 @@
+<?xml version="1.0" ?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr210_support)/urdf/kr210l150.xacro'" />
+  <arg name="variant" default="" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr210_support)/urdf/kr210l150.xacro' variant:=$(arg variant)" />
 </launch>
diff --git a/kuka_kr210_support/launch/test_kr210l150.launch b/kuka_kr210_support/launch/test_kr210l150.launch
@@ -1,5 +1,7 @@
+<?xml version="1.0" ?>
 <launch>
-  <include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" />
+  <arg name="variant" default="" />
+  <include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" pass_all_args="true" />
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
     <param name="use_gui" value="true" />
   </node>

diff --git a/kuka_kr210_support/meshes/kr210l150/collision/base_link.stl b/kuka_kr210_support/meshes/kr210l150/collision/base_link.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_1.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_1.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_2.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_2.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_3.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_3.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_4.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_4.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_5.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_5.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_6.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_6.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/base_link.dae b/kuka_kr210_support/meshes/kr210l150/visual/base_link.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/base_link.stl b/kuka_kr210_support/meshes/kr210l150/visual/base_link.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_1.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_1.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_1.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_1.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_2.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_2.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_2.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_2.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_3.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_3.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_3.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_3.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_4.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_4.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_4.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_4.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_5.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_5.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_5.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_5.stl
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_6.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_6.dae
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_6.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_6.stl
diff --git a/kuka_kr210_support/test/roslaunch_test_kr210l150.xml b/kuka_kr210_support/test/roslaunch_test_kr210l150.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<launch>
+  <arg name="variant" default="" />
+  <group ns="load_kr210l150__">
+    <include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" pass_all_args="true"/>
+  </group>
+
+  <group ns="test_kr210l150__">
+    <include file="$(find kuka_kr210_support)/launch/test_kr210l150.launch" pass_all_args="true"/>
+  </group>
+</launch>
diff --git a/kuka_kr210_support/urdf/kr210l150.urdf b/kuka_kr210_support/urdf/kr210l150.urdf
diff --git a/kuka_kr210_support/urdf/kr210l150.xacro b/kuka_kr210_support/urdf/kr210l150.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="kuka_kr210" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="kuka_kr210l150" xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_kr210_support)/urdf/kr210l150_macro.xacro"/>
   <xacro:kuka_kr210l150 prefix=""/>
 </robot>