Add UR20 and UR30

UniversalRobots · Apr 15, 2024 · 80e6bfc · 80e6bfc
1 parent 82e0690
commit 80e6bfc
Show file tree

Hide file tree

Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -195,7 +195,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
             default_value="ur5e",
         )
     )

diff --git a/ur_simulation_gz/launch/ur_sim_moveit.launch.py b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
             default_value="ur5e",
         )
     )

diff --git a/ur_simulation_gz/test/test_description.py b/ur_simulation_gz/test/test_description.py
@@ -38,7 +38,7 @@
 
 
 @pytest.mark.parametrize(
-    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"]
+    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"]
 )
 @pytest.mark.parametrize("prefix", ["", "my_ur_"])
 def test_ur_urdf_xacro(ur_type, prefix):

diff --git a/ur_simulation_gz/urdf/ur_gz.urdf.xacro b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
@@ -7,7 +7,7 @@
 
   <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
 
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="ur5x"/>