From 9f7d243cdf7fc3b0a58c563916b84833e2b9d263 Mon Sep 17 00:00:00 2001
From: mhubii <m.huber_1994@hotmail.de>
Date: Sat, 19 Oct 2024 11:45:18 +0100
Subject: [PATCH] moved configuration files to lbr_description for stand-alone
 urdf use

---
 .../lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst | 4 ++--
 .../lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst   | 4 ++--
 lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst             | 8 ++++----
 lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst               | 8 ++++----
 lbr_demos/lbr_moveit/doc/lbr_moveit.rst                   | 4 ++--
 lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst           | 2 +-
 .../ros2_control}/lbr_system_interface.xacro              | 0
 .../ros2_control}/lbr_system_parameters.yaml              | 0
 lbr_description/urdf/iiwa14/iiwa14.xacro                  | 2 +-
 lbr_description/urdf/iiwa14/iiwa14_description.xacro      | 4 ++--
 lbr_description/urdf/iiwa7/iiwa7.xacro                    | 2 +-
 lbr_description/urdf/iiwa7/iiwa7_description.xacro        | 4 ++--
 lbr_description/urdf/med14/med14.xacro                    | 2 +-
 lbr_description/urdf/med14/med14_description.xacro        | 4 ++--
 lbr_description/urdf/med7/med7.xacro                      | 2 +-
 lbr_description/urdf/med7/med7_description.xacro          | 4 ++--
 lbr_ros2_control/doc/lbr_ros2_control.rst                 | 4 ++--
 lbr_ros2_control/src/system_interface.cpp                 | 6 ++++--
 18 files changed, 33 insertions(+), 31 deletions(-)
 rename {lbr_ros2_control/config => lbr_description/ros2_control}/lbr_system_interface.xacro (100%)
 rename {lbr_ros2_control/config => lbr_description/ros2_control}/lbr_system_parameters.yaml (100%)

diff --git a/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst b/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst
index eb08980a..323b231b 100644
--- a/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst
+++ b/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst
@@ -14,7 +14,7 @@ This demo implements a simple admittance controller.
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -55,7 +55,7 @@ kinematics to move the robot's end-effector along the z-axis in Cartesian space.
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
diff --git a/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst b/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst
index 532ccd98..a33a6088 100644
--- a/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst
+++ b/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst
@@ -14,7 +14,7 @@ This demo implements a simple admittance controller.
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -54,7 +54,7 @@ This demo implements an admittance controller with a remote center of motion (RC
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
diff --git a/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst b/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst
index edf2a975..5e29f63e 100644
--- a/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst
+++ b/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst
@@ -14,7 +14,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -72,7 +72,7 @@ Hardware
 ~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -96,7 +96,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -134,7 +134,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
diff --git a/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst b/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst
index aca3edce..f71c7d2c 100644
--- a/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst
+++ b/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst
@@ -14,7 +14,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -72,7 +72,7 @@ Hardware
 ~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -96,7 +96,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -134,7 +134,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
diff --git a/lbr_demos/lbr_moveit/doc/lbr_moveit.rst b/lbr_demos/lbr_moveit/doc/lbr_moveit.rst
index 42c17ea9..6848a6df 100644
--- a/lbr_demos/lbr_moveit/doc/lbr_moveit.rst
+++ b/lbr_demos/lbr_moveit/doc/lbr_moveit.rst
@@ -62,7 +62,7 @@ MoveIt Servo - Hardware
 ~~~~~~~~~~~~~~~~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -122,7 +122,7 @@ MoveIt via RViz - Hardware
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
diff --git a/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst b/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst
index 8442254b..089c9fb5 100644
--- a/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst
+++ b/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst
@@ -41,7 +41,7 @@ Hardware
 ~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
diff --git a/lbr_ros2_control/config/lbr_system_interface.xacro b/lbr_description/ros2_control/lbr_system_interface.xacro
similarity index 100%
rename from lbr_ros2_control/config/lbr_system_interface.xacro
rename to lbr_description/ros2_control/lbr_system_interface.xacro
diff --git a/lbr_ros2_control/config/lbr_system_parameters.yaml b/lbr_description/ros2_control/lbr_system_parameters.yaml
similarity index 100%
rename from lbr_ros2_control/config/lbr_system_parameters.yaml
rename to lbr_description/ros2_control/lbr_system_parameters.yaml
diff --git a/lbr_description/urdf/iiwa14/iiwa14.xacro b/lbr_description/urdf/iiwa14/iiwa14.xacro
index 7746f30b..b52b1578 100644
--- a/lbr_description/urdf/iiwa14/iiwa14.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14.xacro
@@ -10,7 +10,7 @@
     <xacro:arg name="mode" default="true" />
     <xacro:arg
         name="system_parameters_path"
-        default="$(find lbr_ros2_control)/config/lbr_system_parameters.yaml" />
+        default="$(find lbr_description)/ros2_control/lbr_system_parameters.yaml" />
 
     <!-- fixed to world, see http://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
     <link name="world" />
diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
index 712fc099..e53bf380 100644
--- a/lbr_description/urdf/iiwa14/iiwa14_description.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
@@ -3,11 +3,11 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="iiwa14"
-        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_ros2_control)/config/lbr_system_parameters.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_description)/ros2_control/lbr_system_parameters.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
-        <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
+        <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
         <xacro:property name="joint_limits_path"
diff --git a/lbr_description/urdf/iiwa7/iiwa7.xacro b/lbr_description/urdf/iiwa7/iiwa7.xacro
index 501160d4..7f89fac7 100644
--- a/lbr_description/urdf/iiwa7/iiwa7.xacro
+++ b/lbr_description/urdf/iiwa7/iiwa7.xacro
@@ -10,7 +10,7 @@
     <xacro:arg name="mode" default="mock" />
     <xacro:arg
         name="system_parameters_path"
-        default="$(find lbr_ros2_control)/config/lbr_system_parameters.yaml" />
+        default="$(find lbr_description)/ros2_control/lbr_system_parameters.yaml" />
 
     <!-- fixed to world, see http://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
     <link name="world" />
diff --git a/lbr_description/urdf/iiwa7/iiwa7_description.xacro b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
index d177bb80..28e99965 100644
--- a/lbr_description/urdf/iiwa7/iiwa7_description.xacro
+++ b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
@@ -3,11 +3,11 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="iiwa7"
-        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_ros2_control)/config/lbr_system_parameters.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_description)/ros2_control/lbr_system_parameters.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
-        <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
+        <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
         <xacro:property name="joint_limits_path"
diff --git a/lbr_description/urdf/med14/med14.xacro b/lbr_description/urdf/med14/med14.xacro
index 89881aaa..9276bf37 100644
--- a/lbr_description/urdf/med14/med14.xacro
+++ b/lbr_description/urdf/med14/med14.xacro
@@ -10,7 +10,7 @@
     <xacro:arg name="mode" default="true" />
     <xacro:arg
         name="system_parameters_path"
-        default="$(find lbr_ros2_control)/config/lbr_system_parameters.yaml" />
+        default="$(find lbr_description)/ros2_control/lbr_system_parameters.yaml" />
 
     <!-- fixed to world, see http://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
     <link name="world" />
diff --git a/lbr_description/urdf/med14/med14_description.xacro b/lbr_description/urdf/med14/med14_description.xacro
index 0eac46fe..f36889d7 100644
--- a/lbr_description/urdf/med14/med14_description.xacro
+++ b/lbr_description/urdf/med14/med14_description.xacro
@@ -3,11 +3,11 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="med14"
-        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_ros2_control)/config/lbr_system_parameters.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_description)/ros2_control/lbr_system_parameters.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
-        <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
+        <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
         <xacro:property name="joint_limits_path"
diff --git a/lbr_description/urdf/med7/med7.xacro b/lbr_description/urdf/med7/med7.xacro
index e34caeb8..15209761 100644
--- a/lbr_description/urdf/med7/med7.xacro
+++ b/lbr_description/urdf/med7/med7.xacro
@@ -10,7 +10,7 @@
     <xacro:arg name="mode" default="true" />
     <xacro:arg
         name="system_parameters_path"
-        default="$(find lbr_ros2_control)/config/lbr_system_parameters.yaml" />
+        default="$(find lbr_description)/ros2_control/lbr_system_parameters.yaml" />
 
     <!-- fixed to world, see http://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
     <link name="world" />
diff --git a/lbr_description/urdf/med7/med7_description.xacro b/lbr_description/urdf/med7/med7_description.xacro
index 58c885c4..00144acf 100644
--- a/lbr_description/urdf/med7/med7_description.xacro
+++ b/lbr_description/urdf/med7/med7_description.xacro
@@ -3,11 +3,11 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="med7"
-        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_ros2_control)/config/lbr_system_parameters.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_parameters_path:=^|'$(find lbr_description)/ros2_control/lbr_system_parameters.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
-        <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
+        <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
         <xacro:property name="joint_limits_path"
diff --git a/lbr_ros2_control/doc/lbr_ros2_control.rst b/lbr_ros2_control/doc/lbr_ros2_control.rst
index 0354f68a..bd94ef42 100644
--- a/lbr_ros2_control/doc/lbr_ros2_control.rst
+++ b/lbr_ros2_control/doc/lbr_ros2_control.rst
@@ -42,8 +42,8 @@ The ``lbr_ros2_control::SystemInterface`` plugin implements a ``hardware_interfa
 .. thumbnail:: img/lbr_ros2_control_detailed_v2.0.0.svg
     :alt: lbr_ros2_control_detailed
 
-- The ``controller_manager::ControllerManager`` loads the correct plugin from the ``<ros2_control>`` tag in the ``robot_description``: `lbr_system_interface.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_interface.xacro>`_:octicon:`link-external`
-- FRI relevant parameters are forwarded to the ``lbr_ros2_control::SystemInterface`` plugin from `lbr_system_paramters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+- The ``controller_manager::ControllerManager`` loads the correct plugin from the ``<ros2_control>`` tag in the ``robot_description``: `lbr_system_interface.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_interface.xacro>`_:octicon:`link-external`
+- FRI relevant parameters are forwarded to the ``lbr_ros2_control::SystemInterface`` plugin from `lbr_system_paramters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
 
 The ``lbr_ros2_control::SystemInterface`` is spun with the ``controller_manager`` node at a rate set by the ``update_rate`` parameter. The communication to the robot is run **asynchronously** at a rate set by the robot's sample time.
 
diff --git a/lbr_ros2_control/src/system_interface.cpp b/lbr_ros2_control/src/system_interface.cpp
index 30753044..b98d6d5b 100644
--- a/lbr_ros2_control/src/system_interface.cpp
+++ b/lbr_ros2_control/src/system_interface.cpp
@@ -11,7 +11,8 @@ SystemInterface::on_init(const hardware_interface::HardwareInfo &system_info) {
     return ret;
   }
 
-  // parameters_ from config/lbr_system_interface.xacro
+  // parameters_ from lbr_system_interface.xacro (located in
+  // lbr_description/ros2_control/lbr_system_interface.xacro)
   if (!parse_parameters_(system_info)) {
     return controller_interface::CallbackReturn::ERROR;
   }
@@ -531,7 +532,8 @@ bool SystemInterface::verify_sensors_() {
 }
 
 bool SystemInterface::verify_auxiliary_sensor_() {
-  // check all interfaces are defined in config/lbr_system_interface.xacro
+  // check all interfaces are defined in lbr_system_interface.xacro (located in
+  // lbr_description/ros2_control/lbr_system_interface.xacro)
   const auto &auxiliary_sensor = info_.sensors[0];
   if (auxiliary_sensor.name != HW_IF_AUXILIARY_PREFIX) {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger(LOGGER_NAME),