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src/custom-ur-descriptions/lix_robot_description/urdf/ur_with_hande.xacro

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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">

<!--Chain: map -> UR5e -> flange -> Hand-E (direct mount, no camera or tool block) -->

  <xacro:arg name="name" default="ur5e"/>

  <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 robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>

  <xacro:arg name="ur_type" default="ur5e"/>

  <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 related parameters -->
  <xacro:arg name="headless_mode" default="false" />
  <xacro:arg name="robot_ip" default="0.0.0.0" />
  <xacro:arg name="script_filename" default=""/>
  <xacro:arg name="output_recipe_filename" default=""/>
  <xacro:arg name="input_recipe_filename" default=""/>
  <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 related 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="mock_sensor_commands" default="false" />
  <xacro:arg name="use_mock_hardware" default="false" />

  <!-- initial position for simulations -->
  <xacro:arg name="initial_positions_file" default="$(find lix_moveit_config)/config/hande/initial_positions.yaml"/>
  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

  <link name="map" />

  <!-- Kinematic model -->
  <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 -->
  <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)"
  />

  <!-- Hand-E gripper mounted on tool0 (Z points outward, matching gripper convention) -->
  <xacro:arg name="grip_pos_min" default="0"/>
  <xacro:arg name="grip_pos_max" default="0.025"/>
  <xacro:arg name="tty_port" default="/tmp/ttyUR"/>
  <xacro:arg name="baudrate" default="115200"/>
  <xacro:arg name="parity" default="N"/>
  <xacro:arg name="data_bits" default="8"/>
  <xacro:arg name="stop_bit" default="1"/>
  <xacro:arg name="slave_id" default="9"/>
  <xacro:arg name="create_socat_tty" default="true"/>
  <xacro:arg name="socat_ip_address" default="$(arg robot_ip)"/>
  <xacro:arg name="socat_port" default="54321"/>

  <xacro:robotiq_hande_gripper
    name="robotiq_hande_gripper"
    prefix="$(arg tf_prefix)"
    parent="$(arg tf_prefix)tool0"
    grip_pos_min="$(arg grip_pos_min)"
    grip_pos_max="$(arg grip_pos_max)"
    tty_port="$(arg tty_port)"
    baudrate="$(arg baudrate)"
    parity="$(arg parity)"
    data_bits="$(arg data_bits)"
    stop_bit="$(arg stop_bit)"
    slave_id="$(arg slave_id)"
    use_fake_hardware="$(arg use_mock_hardware)"
    xyz="0 0 0"
    rpy="0 0 0"
    create_socat_tty="$(arg create_socat_tty)"
    socat_ip_address="$(arg socat_ip_address)"
    socat_port="$(arg socat_port)"
  />
</robot>