The `ur_macro.srdf.xacro` macro has no prefix parameter - breaks multi-robot setups

[pawelir]

Environment

• ROS 2 Jazzy
• ros-jazzy-ur-moveit-config version 3.7.0

Description

The srdf/ur_macro.srdf.xacro is declared with an empty params list:

  <xacro:macro name="ur_srdf" params="">

All group names, group state names, and link names in the macro body are hard-coded without any prefix substitution (e.g. group name="ur_manipulator", joint name="elbow_joint").

This makes the macro unusable in multi-robot setups where a tf_prefix is needed to namespace each robot's joints and planning groups independently.

Expected behaviour

The macro should accept a prefix parameter (as it did in the Humble-era version of the package) so that all joint names, group names, and collision entries can be namespaced:

  <xacro:macro name="ur_srdf" params="prefix">
    <group name="${prefix}manipulator">
      <joint name="${prefix}elbow_joint" value="0" />
      ...
    </group>
    <disable_collisions link1="${prefix}base_link" link2="${prefix}base_link_inertia" reason="Adjacent" />
    ...
  </xacro:macro>

[urfeex]

We see the movet_config package as an example moveit configuration. If your URDF looks different, we think, it is better to create your own moveit support package as explained in our custom workcell tutorial.

[KrzysztofDubel]

@urfeex The {prefix} is present on the humble branch yet missing from the jazzy and main branches. What's the reason for this difference?

[urfeex]

@urfeex The {prefix} is present on the humble branch yet missing from the jazzy and main branches. What's the reason for this difference?

In short: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_robot_driver/ur_moveit_config/doc/migration/jazzy.html#removed-tf-prefix-support

[KrzysztofDubel]

Good point. We had the same problem with MoveItConfigsBuilder. Had to implement a custom config loader to combat that. You're right that this has no place in the official driver