`ur_robot_driver` xacro macro in `rox_description` should not be included if `gz_sim` is set to true

[akruzliak4]

Dear Neobotix devs,

in your rox_description/urdf/xacros/ur_arm.urdf.xacro you begin the code by forcing the inclusion of ur_robot_driver/urdf/ur.ros2_control.xacro which requires the installation of whole ur_robot_driver package which is meant for real-world control of the Universal Robots arm.
Then you follow and use this macro only if use_gz is set to false.

Your choice led me to fork and patch your repo locally, because I don't want to install ur_robot_driver into my docker just to simulate it in gazebo. See below:

<?xml version="1.0"?>
<!--
Author: Pradheep Padmanabhan
Contributor: Adarsh Karan K P
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur">

  <!-- create arm from macro-->
  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
  <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>    <----------- HERE
  <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro"/>

  <!-- Set use_gz = true for simulation -->
  <xacro:arg name="use_gz" default="false"/>
  <xacro:arg name="include_arm_ros2_control" default="false"/>

... etc ...

Please consider demanding the ur_robot_driver only when use_gz is not true:

...
  <xacro:arg name="include_arm_ros2_control" default="false"/>

  <!-- Only include ur_robot_driver when NOT using simulation AND when ros2_control is needed -->
  <xacro:unless value="$(arg use_gz)">
    <xacro:if value="$(arg include_arm_ros2_control)">
      <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>
    </xacro:if>
  </xacro:unless>
...

[padhupradheep]

Hey there, Thank you for the note. We would update it. Would you want to like to give a PR?

Cc: @AdarshKaran

[akruzliak4]

Hey there, Thank you for the note. We would update it. Would you want to like to give a PR?

Cc: @AdarshKaran

Hello, thanks for the fast reply, I can make a PR.