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src/custom-ur-descriptions/cms_robot_description/urdf/ur_standalone.xacro

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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
<!--Jazzy-compatible version: ur_robot (kinematic) and ur_ros2_control (hardware) are now separate macros-->
   <!-- robot name parameter -->
   <xacro:arg name="name" default="ur5e"/>
   <!-- import main macro -->
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
   <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>
   <xacro:include filename="$(find cms_robot_description)/urdf/zivid_camera_mount.xacro"/>
   <xacro:include filename="$(find cms_robot_description)/urdf/wrist_extension.xacro"/>
   <xacro:include filename="$(find cms_robot_description)/urdf/te_robotside.xacro"/>

   <!-- possible 'ur_type' values: ur3, ur5e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
   <xacro:arg name="ur_type" default="ur5e"/>

   <!-- Kinematic parameters -->
   <xacro:arg name="tf_prefix" default="" />
   <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
   <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
   <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
   <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
   <xacro:arg name="safety_limits" default="false"/>
   <xacro:arg name="safety_pos_margin" default="0.15"/>
   <xacro:arg name="safety_k_position" default="20"/>

   <!-- ros2_control / hardware driver parameters -->
   <xacro:arg name="headless_mode" default="false" />
   <xacro:arg name="robot_ip" default="0.0.0.0" />
   <xacro:arg name="script_filename" default="$(find ur_client_library)/resources/external_control.urscript"/>
   <xacro:arg name="output_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"/>
   <xacro:arg name="input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
   <xacro:arg name="reverse_ip" default="0.0.0.0"/>
   <xacro:arg name="script_command_port" default="50004"/>
   <xacro:arg name="reverse_port" default="50001"/>
   <xacro:arg name="script_sender_port" default="50002"/>
   <xacro:arg name="trajectory_port" default="50003"/>
   <xacro:arg name="robot_receive_timeout" default="0.2"/>

   <!-- Tool communication parameters -->
   <xacro:arg name="use_tool_communication" default="false" />
   <xacro:arg name="tool_voltage" default="0" />
   <xacro:arg name="tool_parity" default="0" />
   <xacro:arg name="tool_baud_rate" default="115200" />
   <xacro:arg name="tool_stop_bits" default="1" />
   <xacro:arg name="tool_rx_idle_chars" default="1.5" />
   <xacro:arg name="tool_tx_idle_chars" default="3.5" />
   <xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
   <xacro:arg name="tool_tcp_port" default="54321" />

   <!-- Simulation parameters -->
   <xacro:arg name="use_mock_hardware" default="false" />
   <xacro:arg name="mock_sensor_commands" default="false" />

   <!-- initial position for simulations -->
   <xacro:arg name="initial_positions_file" default="$(find cms_moveit_config)/config/none/initial_positions.yaml"/>
   <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

   <!-- create link fixed to the "map" -->
   <link name="map" />

   <!-- Kinematic model (Jazzy: no hardware params here) -->
   <xacro:ur_robot
     name="$(arg name)"
     tf_prefix="$(arg tf_prefix)"
     parent="map"
     joint_limits_parameters_file="$(arg joint_limit_params)"
     kinematics_parameters_file="$(arg kinematics_params)"
     physical_parameters_file="$(arg physical_params)"
     visual_parameters_file="$(arg visual_params)"
     safety_limits="$(arg safety_limits)"
     safety_pos_margin="$(arg safety_pos_margin)"
     safety_k_position="$(arg safety_k_position)"
     >
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:ur_robot>

   <!-- ros2_control hardware interface (Jazzy: separate from kinematic macro) -->
   <xacro:ur_ros2_control
     name="$(arg name)"
     tf_prefix="$(arg tf_prefix)"
     kinematics_parameters_file="$(arg kinematics_params)"
     robot_ip="$(arg robot_ip)"
     script_filename="$(arg script_filename)"
     input_recipe_filename="$(arg input_recipe_filename)"
     output_recipe_filename="$(arg output_recipe_filename)"
     use_mock_hardware="$(arg use_mock_hardware)"
     mock_sensor_commands="$(arg mock_sensor_commands)"
     headless_mode="$(arg headless_mode)"
     initial_positions="${xacro.load_yaml(initial_positions_file)}"
     use_tool_communication="$(arg use_tool_communication)"
     tool_voltage="$(arg tool_voltage)"
     tool_parity="$(arg tool_parity)"
     tool_baud_rate="$(arg tool_baud_rate)"
     tool_stop_bits="$(arg tool_stop_bits)"
     tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
     tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
     tool_device_name="$(arg tool_device_name)"
     tool_tcp_port="$(arg tool_tcp_port)"
     reverse_ip="$(arg reverse_ip)"
     script_command_port="$(arg script_command_port)"
     reverse_port="$(arg reverse_port)"
     script_sender_port="$(arg script_sender_port)"
     trajectory_port="$(arg trajectory_port)"
     robot_receive_timeout="$(arg robot_receive_timeout)"
   />

  <!-- Wrist extension (EX-50-35): bolts to flange, extends 35mm along tool-Z.
       Replaces makeshift tool block spacer (was 55mm with 2 stacked spacers). -->
  <xacro:wrist_extension
    parent_link="$(arg tf_prefix)tool0"
    xyz="0 0 0.016"
    rpy="1.5708 0 3.14159"/>

  <!-- Tool exchanger robot-side plate (Wingman WM1) at the tip of the extension -->
  <xacro:te_robotside
    parent_link="wrist_extension"
    xyz="0 0.047 0"
    rpy="3.14159 0 0"/>

  <!-- Modular Zivid: Arm Mount + Camera (with calibrated camera position) -->
  <xacro:zivid_camera_mount
    parent_link="$(arg tf_prefix)tool0"
    xyz="0 0 0.005"
    rpy="0 0 0"
    zivid_model="ZIVID_2_PLUS_MR60"/>

</robot>