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Added ros2 (jazzy) stack for gazebo simulation on clearpath_manipulator_description/universal_robots.urdf.xacro. #279

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Added ros2 (jazzy) stack for gazebo simulation on clearpath_manipulator_description/universal_robots.urdf.xacro. #279

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de39a51
added ros2 (jazzy) stack for gazebo simulation on clearpath_manipulat…
gaudelbijay Oct 31, 2025
13805f2
Add ROS 2 Jazzy compatibility for Gazebo simulation
gaudelbijay Oct 31, 2025
9e1df88
added ros2 (jazzy) stack for gazebo simulation on clearpath_manipulat…
gaudelbijay Nov 3, 2025
25cd0ea
urdf ur5 arm update
gaudelbijay Nov 12, 2025
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9 changes: 9 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
This update adds ROS 2 Jazzy compatibility for the Gazebo simulation stack within the clearpath_manipulator_description package. Specifically, it integrates the Universal Robots URDF/Xacro file with ROS 2’s control and Gazebo Sim (Harmonic) interfaces.

### 🧩 Key Changes

Added ROS 2 Jazzy–compatible simulation configuration files.

Updated universal_robots.urdf.xacro to support ROS 2 control (ros2_control) and Gazebo plugins.

Ensured compatibility with the Clearpath manipulator stack for ROS 2 (Jazzy).
263 changes: 193 additions & 70 deletions clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro
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Expand Up @@ -48,6 +48,7 @@
sim_ignition:=''
">
<xacro:property name="use_manipulation_controllers" value="$(arg use_manipulation_controllers)"/>

<!-- Default Description Parameters -->
<xacro:property name="_tf_prefix" value="${name}_" lazy_eval="false"/>
<xacro:property name="_initial_positions" value="${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)}" lazy_eval="false"/>
Expand All @@ -58,28 +59,56 @@
<xacro:property name="_safety_limits" value="false" lazy_eval="false"/>
<xacro:property name="_safety_pos_margin" value="0.15" lazy_eval="false"/>
<xacro:property name="_safety_k_position" value="20" lazy_eval="false"/>

<!-- Default Description Parameters Overwrites -->
<xacro:if value="${initial_positions != ''}"> <xacro:property name="_initial_positions" value="${initial_positions}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${initial_positions != ''}">
<xacro:property name="_initial_positions" value="${initial_positions}" lazy_eval="false"/>
</xacro:if>
<!-- if initial positions file is passed, overwrite initial positions parameter -->
<xacro:if value="${initial_positions_file != ''}"> <xacro:property name="_initial_positions" value="${xacro.load_yaml(initial_positions_file)}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${joint_limits_parameters_file != ''}"> <xacro:property name="_joint_limits_parameters_file" value="${joint_limits_parameters_file}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${kinematics_parameters_file != ''}"> <xacro:property name="_kinematics_parameters_file" value="${kinematics_parameters_file}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${physical_parameters_file != ''}"> <xacro:property name="_physical_parameters_file" value="${physical_parameters_file}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${visual_parameters_file != ''}"> <xacro:property name="$_visual_parameters_file" value="${visual_parameters_file}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${safety_limits != ''}"> <xacro:property name="_safety_limits" value="${safety_limits}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${safety_pos_margin != ''}"> <xacro:property name="_safety_pos_margin" value="${safety_pos_margin}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${safety_k_position != ''}"> <xacro:property name="_safety_k_position" value="${safety_k_position}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${initial_positions_file != ''}">
<xacro:property name="_initial_positions" value="${xacro.load_yaml(initial_positions_file)}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${joint_limits_parameters_file != ''}">
<xacro:property name="_joint_limits_parameters_file" value="${joint_limits_parameters_file}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${kinematics_parameters_file != ''}">
<xacro:property name="_kinematics_parameters_file" value="${kinematics_parameters_file}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${physical_parameters_file != ''}">
<xacro:property name="_physical_parameters_file" value="${physical_parameters_file}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${visual_parameters_file != ''}">
<xacro:property name="_visual_parameters_file" value="${visual_parameters_file}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${safety_limits != ''}">
<xacro:property name="_safety_limits" value="${safety_limits}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${safety_pos_margin != ''}">
<xacro:property name="_safety_pos_margin" value="${safety_pos_margin}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${safety_k_position != ''}">
<xacro:property name="_safety_k_position" value="${safety_k_position}" lazy_eval="false"/>
</xacro:if>

<!-- Default Simulation Parameters -->
<xacro:property name="_use_mock_hardware" value="false" />
<xacro:property name="_mock_sensor_commands" value="false" />
<xacro:property name="_sim_gazebo" value="false" />
<xacro:property name="_sim_ignition" value="$(arg is_sim)" />

<!-- Default Simulation Parameters Overwrites -->
<xacro:if value="${use_mock_hardware != ''}"> <xacro:property name="_use_mock_hardware" value="${use_mock_hardware}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${mock_sensor_commands != ''}"> <xacro:property name="_mock_sensor_commands" value="${mock_sensor_commands}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${sim_gazebo != ''}"> <xacro:property name="_sim_gazebo" value="${sim_gazebo}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${sim_ignition != ''}"> <xacro:property name="_sim_ignition" value="${sim_ignition}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${use_mock_hardware != ''}">
<xacro:property name="_use_mock_hardware" value="${use_mock_hardware}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${mock_sensor_commands != ''}">
<xacro:property name="_mock_sensor_commands" value="${mock_sensor_commands}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${sim_gazebo != ''}">
<xacro:property name="_sim_gazebo" value="${sim_gazebo}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${sim_ignition != ''}">
<xacro:property name="_sim_ignition" value="${sim_ignition}" lazy_eval="false"/>
</xacro:if>

<!-- Default ros2_control Parameters -->
<xacro:property name="_headless_mode" value="false" lazy_eval="false"/>
Expand All @@ -92,17 +121,39 @@
<xacro:property name="_transmission_hw_interface" value="hardware_interface/PositionJointInterface" lazy_eval="false"/>
<xacro:property name="_non_blocking_read" value="true" lazy_eval="false"/>
<xacro:property name="_keep_alive_count" value="2.0" lazy_eval="false"/>

<!-- Default ros2_control Parameters Overwrites -->
<xacro:if value="${headless_mode != ''}"> <xacro:property name="_headless_mode" value="${headless_mode}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${robot_ip != ''}"> <xacro:property name="_robot_ip" value="${robot_ip}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${reverse_ip != ''}"> <xacro:property name="_reverse_ip" value="${reverse_ip}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${script_command_port != ''}"> <xacro:property name="_script_command_port" value="${script_command_port}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${reverse_port != ''}"> <xacro:property name="_reverse_port" value="${reverse_port}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${script_sender_port != ''}"> <xacro:property name="_script_sender_port" value="${script_sender_port}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${trajectory_port != ''}"> <xacro:property name="_trajectory_port" value="${trajectory_port}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${transmission_hw_interface != ''}"> <xacro:property name="_transmission_hw_interface" value="${transmission_hw_interface}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${non_blocking_read != ''}"> <xacro:property name="_non_blocking_read" value="${non_blocking_read}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${keep_alive_count != ''}"> <xacro:property name="_keep_alive_count" value="${keep_alive_count}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${headless_mode != ''}">
<xacro:property name="_headless_mode" value="${headless_mode}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${robot_ip != ''}">
<xacro:property name="_robot_ip" value="${robot_ip}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${reverse_ip != ''}">
<xacro:property name="_reverse_ip" value="${reverse_ip}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${script_command_port != ''}">
<xacro:property name="_script_command_port" value="${script_command_port}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${reverse_port != ''}">
<xacro:property name="_reverse_port" value="${reverse_port}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${script_sender_port != ''}">
<xacro:property name="_script_sender_port" value="${script_sender_port}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${trajectory_port != ''}">
<xacro:property name="_trajectory_port" value="${trajectory_port}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${transmission_hw_interface != ''}">
<xacro:property name="_transmission_hw_interface" value="${transmission_hw_interface}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${non_blocking_read != ''}">
<xacro:property name="_non_blocking_read" value="${non_blocking_read}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${keep_alive_count != ''}">
<xacro:property name="_keep_alive_count" value="${keep_alive_count}" lazy_eval="false"/>
</xacro:if>

<!-- Driver Dependent Parameters -->
<xacro:if value="${use_manipulation_controllers and not _use_mock_hardware and not _sim_ignition}">
<xacro:property name="_script_filename" value="$(find ur_client_library)/resources/external_control.urscript" lazy_eval="false"/>
Expand All @@ -114,10 +165,17 @@
<xacro:property name="_output_recipe_filename" value="" lazy_eval="false"/>
<xacro:property name="_input_recipe_filename" value="" lazy_eval="false"/>
</xacro:unless>

<!-- Driver Dependent Parameters Overwrites -->
<xacro:if value="${script_filename != ''}"> <xacro:property name="_script_filename" value="${script_filename}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${output_recipe_filename != ''}"> <xacro:property name="_output_recipe_filename" value="${output_recipe_filename}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${input_recipe_filename != ''}"> <xacro:property name="_input_recipe_filename" value="${input_recipe_filename}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${script_filename != ''}">
<xacro:property name="_script_filename" value="${script_filename}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${output_recipe_filename != ''}">
<xacro:property name="_output_recipe_filename" value="${output_recipe_filename}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${input_recipe_filename != ''}">
<xacro:property name="_input_recipe_filename" value="${input_recipe_filename}" lazy_eval="false"/>
</xacro:if>

<!-- Default Tool Communication Parameters -->
<xacro:property name="_use_tool_communication" value="false" lazy_eval="false"/>
Expand All @@ -129,16 +187,35 @@
<xacro:property name="_tool_tx_idle_chars" value="3.5" lazy_eval="false"/>
<xacro:property name="_tool_device_name" value="/tmp/ttyUR" lazy_eval="false"/>
<xacro:property name="_tool_tcp_port" value="54321" lazy_eval="false"/>

<!-- Tool Communication Parameter Overwrites -->
<xacro:if value="${use_tool_communication != ''}"> <xacro:property name="_use_tool_communication" value="${use_tool_communication}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_voltage != ''}"> <xacro:property name="_tool_voltage" value="${tool_voltage}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_parity != ''}"> <xacro:property name="_tool_parity" value="${tool_parity}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_baud_rate != ''}"> <xacro:property name="_tool_baud_rate" value="${tool_baud_rate}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_stop_bits != ''}"> <xacro:property name="_tool_stop_bits" value="${tool_stop_bits}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_rx_idle_chars != ''}"> <xacro:property name="_tool_rx_idle_chars" value="${tool_rx_idle_chars}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_tx_idle_chars != ''}"> <xacro:property name="_tool_tx_idle_chars" value="${tool_tx_idle_chars}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_device_name != ''}"> <xacro:property name="_tool_device_name" value="${tool_device_name}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${tool_tcp_port != ''}"> <xacro:property name="_tool_tcp_port" value="${tool_tcp_port}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${use_tool_communication != ''}">
<xacro:property name="_use_tool_communication" value="${use_tool_communication}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_voltage != ''}">
<xacro:property name="_tool_voltage" value="${tool_voltage}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_parity != ''}">
<xacro:property name="_tool_parity" value="${tool_parity}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_baud_rate != ''}">
<xacro:property name="_tool_baud_rate" value="${tool_baud_rate}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_stop_bits != ''}">
<xacro:property name="_tool_stop_bits" value="${tool_stop_bits}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_rx_idle_chars != ''}">
<xacro:property name="_tool_rx_idle_chars" value="${tool_rx_idle_chars}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_tx_idle_chars != ''}">
<xacro:property name="_tool_tx_idle_chars" value="${tool_tx_idle_chars}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_device_name != ''}">
<xacro:property name="_tool_device_name" value="${tool_device_name}" lazy_eval="false"/>
</xacro:if>
<xacro:if value="${tool_tcp_port != ''}">
<xacro:property name="_tool_tcp_port" value="${tool_tcp_port}" lazy_eval="false"/>
</xacro:if>

<!-- Universal Robots ROS2 Description -->
<xacro:ur_robot
Expand All @@ -151,43 +228,89 @@
visual_parameters_file="${_visual_parameters_file}"
safety_limits="${_safety_limits}"
safety_pos_margin="${_safety_pos_margin}"
safety_k_position="${_safety_k_position}"
>
safety_k_position="${_safety_k_position}">
<xacro:insert_block name="origin"/>
</xacro:ur_robot>

<!-- Universal_Robots_ROS2_Driver HardwareInterface -->
<xacro:if value="${use_manipulation_controllers}">
<xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />

<xacro:ur_ros2_control
name="${name}"
tf_prefix="${_tf_prefix}"
kinematics_parameters_file="${_kinematics_parameters_file}"
transmission_hw_interface="${_transmission_hw_interface}"
use_mock_hardware="${_use_mock_hardware}"
mock_sensor_commands="${_mock_sensor_commands}"
headless_mode="${_headless_mode}"
initial_positions="${_initial_positions}"
use_tool_communication="${_use_tool_communication}"
tool_voltage="${_tool_voltage}"
tool_parity="${_tool_parity}"
tool_baud_rate="${_tool_baud_rate}"
tool_stop_bits="${_tool_stop_bits}"
tool_rx_idle_chars="${_tool_rx_idle_chars}"
tool_tx_idle_chars="${_tool_tx_idle_chars}"
tool_device_name="${_tool_device_name}"
tool_tcp_port="${_tool_tcp_port}"
robot_ip="${_robot_ip}"
script_filename="${_script_filename}"
output_recipe_filename="${_output_recipe_filename}"
input_recipe_filename="${_input_recipe_filename}"
reverse_ip="${_reverse_ip}"
script_command_port="${_script_command_port}"
reverse_port="${_reverse_port}"
script_sender_port="${_script_sender_port}"
trajectory_port="${_trajectory_port}"
/>
<!-- Use the right ros2_control depending on sim vs real -->

<xacro:if value="${_sim_ignition}">
<ros2_control name="${name}_hardware" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>

<joint name="${name}_shoulder_pan_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${name}_shoulder_lift_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${name}_elbow_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${name}_wrist_1_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${name}_wrist_2_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${name}_wrist_3_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>

<gazebo>
<plugin filename="gz_ros2_control-system"
name="gz_ros2_control::GazeboSimROS2ControlPlugin"/>
</gazebo>
</xacro:if>

<!-- REAL ROBOT: only include the UR driver when NOT sim -->
<xacro:unless value="${_sim_ignition}">
<xacro:if value="${use_manipulation_controllers}">
<xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
<xacro:ur_ros2_control
name="${name}"
tf_prefix="${_tf_prefix}"
kinematics_parameters_file="${_kinematics_parameters_file}"
transmission_hw_interface="${_transmission_hw_interface}"
use_mock_hardware="${_use_mock_hardware}"
mock_sensor_commands="${_mock_sensor_commands}"
headless_mode="${_headless_mode}"
initial_positions="${_initial_positions}"
use_tool_communication="${_use_tool_communication}"
tool_voltage="${_tool_voltage}"
tool_parity="${_tool_parity}"
tool_baud_rate="${_tool_baud_rate}"
tool_stop_bits="${_tool_stop_bits}"
tool_rx_idle_chars="${_tool_rx_idle_chars}"
tool_tx_idle_chars="${_tool_tx_idle_chars}"
tool_device_name="${_tool_device_name}"
tool_tcp_port="${_tool_tcp_port}"
robot_ip="${_robot_ip}"
script_filename="${_script_filename}"
output_recipe_filename="${_output_recipe_filename}"
input_recipe_filename="${_input_recipe_filename}"
reverse_ip="${_reverse_ip}"
script_command_port="${_script_command_port}"
reverse_port="${_reverse_port}"
script_sender_port="${_script_sender_port}"
trajectory_port="${_trajectory_port}"/>
</xacro:if>
</xacro:unless>

</xacro:macro>
</robot>
</robot>