From dee13a5af02fb638ee0844c7dde1967e646221cd Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Sat, 26 Oct 2024 22:09:16 +0200
Subject: [PATCH] Do not add ros2_control xacro

---
 ur_robot_driver/urdf/ur.ros2_control.xacro | 233 ---------------------
 1 file changed, 233 deletions(-)
 delete mode 100644 ur_robot_driver/urdf/ur.ros2_control.xacro

diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro
deleted file mode 100644
index b013ab36..00000000
--- a/ur_robot_driver/urdf/ur.ros2_control.xacro
+++ /dev/null
@@ -1,233 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" />
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
-
-  <xacro:macro name="ur_ros2_control" params="
-    name
-    tf_prefix
-    kinematics_parameters_file
-    robot_ip
-    script_filename
-    input_recipe_filename
-    output_recipe_filename
-    transmission_hw_interface:=hardware_interface/PositionJointInterface
-    use_mock_hardware:=false mock_sensor_commands:=false
-    headless_mode:=false
-    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
-    use_tool_communication:=false
-    tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
-    tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
-    reverse_port:=50001
-    script_sender_port:=50002
-    reverse_ip:=0.0.0.0
-    script_command_port:=50004
-    trajectory_port:=50003
-    non_blocking_read:=true
-    robot_receive_timeout:=0.04
-    ">
-
-    <xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
-    <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
-    <xacro:property name="kinematics_hash" value="${sec_kinematics['hash']}" scope="parent"/>
-
-    <!-- Add URDF transmission elements (for ros_control) -->
-    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
-    <!-- Placeholder for ros2_control transmission which don't yet exist -->
-
-    <ros2_control name="${name}" type="system">
-      <hardware>
-        <xacro:if value="${use_mock_hardware}">
-          <plugin>mock_components/GenericSystem</plugin>
-          <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
-          <param name="calculate_dynamics">true</param>
-        </xacro:if>
-        <xacro:unless value="${use_mock_hardware}">
-          <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
-          <param name="robot_ip">${robot_ip}</param>
-          <param name="script_filename">${script_filename}</param>
-          <param name="output_recipe_filename">${output_recipe_filename}</param>
-          <param name="input_recipe_filename">${input_recipe_filename}</param>
-          <param name="headless_mode">${headless_mode}</param>
-          <param name="reverse_port">${reverse_port}</param>
-          <param name="script_sender_port">${script_sender_port}</param>
-          <param name="reverse_ip">${reverse_ip}</param>
-          <param name="script_command_port">${script_command_port}</param>
-          <param name="trajectory_port">${trajectory_port}</param>
-          <param name="tf_prefix">${tf_prefix}</param>
-          <param name="non_blocking_read">${non_blocking_read}</param>
-          <param name="servoj_gain">2000</param>
-          <param name="servoj_lookahead_time">0.03</param>
-          <param name="use_tool_communication">${use_tool_communication}</param>
-          <param name="kinematics/hash">${kinematics_hash}</param>
-          <param name="tool_voltage">${tool_voltage}</param>
-          <param name="tool_parity">${tool_parity}</param>
-          <param name="tool_baud_rate">${tool_baud_rate}</param>
-          <param name="tool_stop_bits">${tool_stop_bits}</param>
-          <param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
-          <param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
-          <param name="tool_device_name">${tool_device_name}</param>
-          <param name="tool_tcp_port">${tool_tcp_port}</param>
-          <param name="robot_receive_timeout">${robot_receive_timeout}</param>
-        </xacro:unless>
-      </hardware>
-
-      <xacro:ur_joint_control_description
-        tf_prefix="${tf_prefix}"
-        initial_positions="${initial_positions}"
-      />
-
-      <xacro:ur_sensors
-        tf_prefix="${tf_prefix}"
-      />
-
-      <!-- NOTE The following are joints used only for testing with mock hardware and will change in the future -->
-      <gpio name="${tf_prefix}speed_scaling">
-        <state_interface name="speed_scaling_factor">
-          <param name="initial_value">1.0</param>
-        </state_interface>
-        <command_interface name="target_speed_fraction_cmd"/>
-        <command_interface name="target_speed_fraction_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}gpio">
-        <command_interface name="standard_digital_output_cmd_0"/>
-        <command_interface name="standard_digital_output_cmd_1"/>
-        <command_interface name="standard_digital_output_cmd_2"/>
-        <command_interface name="standard_digital_output_cmd_3"/>
-        <command_interface name="standard_digital_output_cmd_4"/>
-        <command_interface name="standard_digital_output_cmd_5"/>
-        <command_interface name="standard_digital_output_cmd_6"/>
-        <command_interface name="standard_digital_output_cmd_7"/>
-        <command_interface name="standard_digital_output_cmd_8"/>
-        <command_interface name="standard_digital_output_cmd_9"/>
-        <command_interface name="standard_digital_output_cmd_10"/>
-        <command_interface name="standard_digital_output_cmd_11"/>
-        <command_interface name="standard_digital_output_cmd_12"/>
-        <command_interface name="standard_digital_output_cmd_13"/>
-        <command_interface name="standard_digital_output_cmd_14"/>
-        <command_interface name="standard_digital_output_cmd_15"/>
-        <command_interface name="standard_digital_output_cmd_16"/>
-        <command_interface name="standard_digital_output_cmd_17"/>
-
-        <command_interface name="standard_analog_output_cmd_0"/>
-        <command_interface name="standard_analog_output_cmd_1"/>
-        <command_interface name="analog_output_domain_cmd"/>
-
-        <command_interface name="tool_voltage_cmd"/>
-
-        <command_interface name="io_async_success"/>
-
-        <state_interface name="digital_output_0"/>
-        <state_interface name="digital_output_1"/>
-        <state_interface name="digital_output_2"/>
-        <state_interface name="digital_output_3"/>
-        <state_interface name="digital_output_4"/>
-        <state_interface name="digital_output_5"/>
-        <state_interface name="digital_output_6"/>
-        <state_interface name="digital_output_7"/>
-        <state_interface name="digital_output_8"/>
-        <state_interface name="digital_output_9"/>
-        <state_interface name="digital_output_10"/>
-        <state_interface name="digital_output_11"/>
-        <state_interface name="digital_output_12"/>
-        <state_interface name="digital_output_13"/>
-        <state_interface name="digital_output_14"/>
-        <state_interface name="digital_output_15"/>
-        <state_interface name="digital_output_16"/>
-        <state_interface name="digital_output_17"/>
-
-        <state_interface name="digital_input_0"/>
-        <state_interface name="digital_input_1"/>
-        <state_interface name="digital_input_2"/>
-        <state_interface name="digital_input_3"/>
-        <state_interface name="digital_input_4"/>
-        <state_interface name="digital_input_5"/>
-        <state_interface name="digital_input_6"/>
-        <state_interface name="digital_input_7"/>
-        <state_interface name="digital_input_8"/>
-        <state_interface name="digital_input_9"/>
-        <state_interface name="digital_input_10"/>
-        <state_interface name="digital_input_11"/>
-        <state_interface name="digital_input_12"/>
-        <state_interface name="digital_input_13"/>
-        <state_interface name="digital_input_14"/>
-        <state_interface name="digital_input_15"/>
-        <state_interface name="digital_input_16"/>
-        <state_interface name="digital_input_17"/>
-
-        <state_interface name="standard_analog_output_0"/>
-        <state_interface name="standard_analog_output_1"/>
-
-        <state_interface name="standard_analog_input_0"/>
-        <state_interface name="standard_analog_input_1"/>
-
-        <state_interface name="analog_io_type_0"/>
-        <state_interface name="analog_io_type_1"/>
-        <state_interface name="analog_io_type_2"/>
-        <state_interface name="analog_io_type_3"/>
-
-        <state_interface name="tool_mode"/>
-        <state_interface name="tool_output_voltage"/>
-        <state_interface name="tool_output_current"/>
-        <state_interface name="tool_temperature"/>
-
-        <state_interface name="tool_analog_input_0"/>
-        <state_interface name="tool_analog_input_1"/>
-
-        <state_interface name="tool_analog_input_type_0"/>
-        <state_interface name="tool_analog_input_type_1"/>
-
-        <state_interface name="robot_mode"/>
-        <state_interface name="robot_status_bit_0"/>
-        <state_interface name="robot_status_bit_1"/>
-        <state_interface name="robot_status_bit_2"/>
-        <state_interface name="robot_status_bit_3"/>
-
-        <state_interface name="safety_mode"/>
-        <state_interface name="safety_status_bit_0"/>
-        <state_interface name="safety_status_bit_1"/>
-        <state_interface name="safety_status_bit_2"/>
-        <state_interface name="safety_status_bit_3"/>
-        <state_interface name="safety_status_bit_4"/>
-        <state_interface name="safety_status_bit_5"/>
-        <state_interface name="safety_status_bit_6"/>
-        <state_interface name="safety_status_bit_7"/>
-        <state_interface name="safety_status_bit_8"/>
-        <state_interface name="safety_status_bit_9"/>
-        <state_interface name="safety_status_bit_10"/>
-
-        <state_interface name="program_running"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}payload">
-        <command_interface name="mass"/>
-        <command_interface name="cog.x"/>
-        <command_interface name="cog.y"/>
-        <command_interface name="cog.z"/>
-        <command_interface name="payload_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}resend_robot_program">
-        <command_interface name="resend_robot_program_cmd"/>
-        <command_interface name="resend_robot_program_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}hand_back_control">
-        <command_interface name="hand_back_control_cmd"/>
-        <command_interface name="hand_back_control_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}zero_ftsensor">
-        <command_interface name="zero_ftsensor_cmd"/>
-        <command_interface name="zero_ftsensor_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}system_interface">
-        <state_interface name="initialized"/>
-      </gpio>
-    </ros2_control>
-  </xacro:macro>
-</robot>