Migration notes

Iron -> Jazzy

ros2_control xacro tag moved to driver package

The description package no longer adds the ros2_control tag to the robot’s URDF. This is done in the driver / simulation repos now. The description package still provides macros for the system-independent parts such as joint configurations and an example using mock_hardware with the robot.

Enforce absolute paths in launchfiles

The view_ur.launch.py launchfile now expects an absolute path for the description file and RViz config file. Before it was expecting a description_package and a description_file argument with a relative path to the package. This way, users can provide their own description file and / or RViz config without the need to replicate the complete package structure.

Absolute paths can still be generated dynamically using a package + relative path structure inside other launchfiles or by using ros2 pkg prefix on the command line.

Jazzy -> Kilted

Radius definitions removed

The shoulder_radius: ... and alike for the other joints got removed from the physical_parameters.yaml files. Alongside parsing these got removed from urdf/inc/ur_common.xacro. Using the new parameter files with the old parser (if that git copied to a modified package) will fail.

All mesh offsets are now part of the visual_parameters

The physical_parameters did contain the two mesh offsets for the shoulder and elbow. These got now moved to the visual_parameters.yaml files.

Mesh offsets defined with all 6 DOF

The visual_parameters.yaml files now contain the mesh offsets for all 6 dimensions. The URDF expects this structure of the config files. So, the URDF won’t accept any old visual parameter config files. They will have to be updated to contain the full mesh_offset entries.