From fd2924c83dbd3e06726f0a23128c62b900bb7f41 Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Thu, 12 Jan 2023 00:45:58 +0100
Subject: [PATCH] Update URDF templates for better simulator support. (#94)

---
 templates/robot_description/robot.urdf.xacro             | 3 ++-
 .../robot_description/robot_macro.ros2_control.xacro     | 9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/templates/robot_description/robot.urdf.xacro b/templates/robot_description/robot.urdf.xacro
index a206158a..327ddcd4 100644
--- a/templates/robot_description/robot.urdf.xacro
+++ b/templates/robot_description/robot.urdf.xacro
@@ -28,6 +28,7 @@
     use_mock_hardware="$(arg use_mock_hardware)"
     mock_sensor_commands="$(arg mock_sensor_commands)"
     sim_gazebo_classic="$(arg sim_gazebo_classic)"
-    sim_gazebo="$(arg sim_gazebo)"/>
+    sim_gazebo="$(arg sim_gazebo)"
+    simulation_controllers:="$(arg simulation_controllers)" />
 
 </robot>
diff --git a/templates/robot_description/robot_macro.ros2_control.xacro b/templates/robot_description/robot_macro.ros2_control.xacro
index 2d24670d..7486ff02 100644
--- a/templates/robot_description/robot_macro.ros2_control.xacro
+++ b/templates/robot_description/robot_macro.ros2_control.xacro
@@ -7,7 +7,8 @@
                use_mock_hardware:=^|false
                mock_sensor_commands:=^|false
                sim_gazebo_classic:=^|false
-               sim_gazebo:=^|false"
+               sim_gazebo:=^|false
+               simulation_controllers"
                >
 
     <ros2_control name="${name}" type="system">
@@ -121,7 +122,7 @@
       </gazebo>
       <gazebo>
         <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-          <parameters>$(arg simulation_controllers)</parameters>
+          <parameters>${simulation_controllers}</parameters>
         </plugin>
       </gazebo>
     </xacro:if>
@@ -132,8 +133,8 @@
       </gazebo>
       <gazebo>
         <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-          <parameters>$(arg simulation_controllers)</parameters>
-          <controller_manager_node_name>$(arg prefix)controller_manager</controller_manager_node_name>
+          <parameters>${simulation_controllers}</parameters>
+          <controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
         </plugin>
       </gazebo>
     </xacro:if>