ur_description

ros2_control xacro tag moved to driver package

The description package no longer adds the ros2_control tag to the robot’s URDF. This is done in the driver / simulation repos now. The description package still provides macros for the system-independent parts such as joint configurations and an example using mock_hardware with the robot.

Enforce absolute paths in launchfiles

The view_ur.launch.py launchfile now expects an absolute path for the description file and RViz config file. Before it was expecting a description_package and a description_file argument with a relative path to the package. This way, users can provide their own description file and / or RViz config without the need to replicate the complete package structure.

Absolute paths can still be generated dynamically using a package + relative path structure inside other launchfiles or by using ros2 pkg prefix on the command line.