One robot, two model-loading paths
CMS bringup assembles geometry, planning semantics, YAML settings and arm calibration for MoveIt and the UR driver, while the GUI separately loads the expanded URDF selected by the beamline configuration.
EROBS / CMS ROBOT MODEL
One robot, two model-loading paths
The selected beamline and active tool choose the xacro, SRDF branch and tool configuration.
PLANNING / BRINGUP
PARAMETERS
Geometry
launch_urdf → xacro
Links, joints and tool
Meshes and mounting
Planning semantics
SRDF xacro
Groups and named states
Collision exclusions
Planning / control
YAML configuration
Planners, IK and limits
MoveIt controller map
Arm calibration
ur5e_calibration.yaml
Shared by planning and TF
CMS bringup assembles the runtime model
robot_bringup.launch.py · MoveItConfigsBuilder
Expanded URDF + SRDF + planning and execution settings
UR driver + robot state publisher
Controllers and calibrated robot TF
move_group
Planning, scene and MTC execution
Bringup passes the selected xacro to the UR driver; both planning and TF use arm calibration.
GUI / SEPARATE FILE LOAD
LOAD
Existing expanded URDF
urdf_file → selected .urdf
From the beamline description package
GUI 3D viewer
VisualizationPanel → URDFLoader
Local model and package meshes
Updating xacro does not regenerate the GUI’s selected URDF. Check the two models together.