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fix: jazzy/ur simulation dependencies #85

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fix: jazzy/ur simulation dependencies #85

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10f9438
fix/jazzy/arm_dependencies
jramos-robotnik Feb 13, 2026
778f5cc
fix/official_ur_gz_repo
jramos-robotnik Mar 13, 2026
bf9c354
Change repository URLs and versions in YAML
jramos-robotnik Mar 13, 2026
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14 changes: 14 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -161,3 +161,17 @@ ros2 launch robotnik_description robot_description.launch.py robot:=rbkairos rob
```

Launches the description for the RB-Kairos with a UR arm, under the namespace `robot_b`.

## Repositories Dependencies

- **robotnik_sensors** (branch: `jazzy-devel`)

Repository with sensors descriptions

- **Universal_Robots_ROS2_Description** (branch: `jazzy`)

Repository with the description of the UR arms.

- **Universal_Robots_ROS2_GZ_Simulation** (branch: `ros2`)

URDF with the UR implementation in Gazebo.
10 changes: 10 additions & 0 deletions robot_description.repo.yaml
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Expand Up @@ -4,3 +4,13 @@ repositories:
type: git
url: https://github.com/RobotnikAutomation/robotnik_sensors.git
version: jazzy-devel

src/Universal_Robots_ROS2_Description:
type: git
url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
version: jazzy

src/Universal_Robots_ROS2_GZ_Simulation:
type: git
url: https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git
version: ros2
17 changes: 5 additions & 12 deletions urdf/arms/ur_macro.urdf.xacro
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Expand Up @@ -35,23 +35,16 @@
joint_limits_parameters_file="${joint_limit_params}"
kinematics_parameters_file="${kinematics_params}"
physical_parameters_file="${physical_params}"
visual_parameters_file="${visual_params}"
generate_ros2_control_tag="false">
visual_parameters_file="${visual_params}">
<xacro:insert_block name="origin" />
</xacro:ur_robot>

<xacro:if value="$(arg gazebo_ignition)">
<xacro:include
filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
<xacro:ur_ros2_control
name="arm"
sim_ignition="true"
tf_prefix="${frame_prefix}"
script_filename=""
output_recipe_filename=""
input_recipe_filename=""
hash_kinematics=""
robot_ip="" />
name="${frame_prefix}"
tf_prefix="${frame_prefix}" />
</xacro:if>
</xacro:macro>
</robot>
</robot>