ur_simulation_gz

Updated argument name for tf_prefix

To have coherency between the driver and the GZ simulation, the launch argument to use tf_prefix has been changed from prefix to tf_prefix. Moreover, differently from the driver, using such argument for this package requires the user to also provide their own controllers file, as explained in tf_prefix for GZ.

Update arguments for MoveIt!

As part of the restructuring of the ur_moveit_config pkg, all the arguments that were previously passed to ur_moveit.launch.py (e.g. description_file, safety_limits or prefix) have been removed, in favor of the only moveit_launch_file argument.

This is due to the underlying assumption for the specified launch file to be part of a custom moveit_config pkg that already contains the correct references to a custom description pkg and related parameters.

In particular, the option of specifying a tf_prefix for the ur_moveit_config has been removed, hence if it is needed in a GZ simulation with MoveIt!, it is expected to be handled by the user through a proper definition for it in a custom moveit_config.

Enforce absolute paths in launchfiles

All launchfiles now expect an absolute path for files that should be used to alter the launch process (e.g. description file, controllers file). Before it was expecting e.g. a description_package and a description_file argument with a relative path to the package.

The default files have not been changed, so unless you specified your custom package / file combinations, you won’t need to update that to an absolute path.

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. For example, you can do

$ ros2 launch ur_gz_simulation ur_sim_control.launch.py ur_type:=ur20 \
  controllers_file:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/config/ros2_controllers.yaml