From 32f1062cfc99f8a212c6cb7d9ce15170a45abb25 Mon Sep 17 00:00:00 2001
From: urmarp <marp@universal-robots.com>
Date: Wed, 28 Dec 2022 15:24:32 +0100
Subject: [PATCH] Updated for primary interface improvements

---
 urdf/ur.ros2_control.xacro | 2 ++
 urdf/ur.urdf.xacro         | 2 ++
 urdf/ur_macro.xacro        | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f1050ab..3860034 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -8,6 +8,7 @@
     sim_gazebo:=false
     sim_ignition:=false
     headless_mode:=false
+    simulated_robot:=false
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
     use_tool_communication:=false
     script_filename output_recipe_filename
@@ -40,6 +41,7 @@
           <param name="output_recipe_filename">${output_recipe_filename}</param>
           <param name="input_recipe_filename">${input_recipe_filename}</param>
           <param name="headless_mode">${headless_mode}</param>
+          <param name="simulated_robot">${simulated_robot}</param>
           <param name="reverse_port">${reverse_port}</param>
           <param name="script_sender_port">${script_sender_port}</param>
           <param name="reverse_ip">${reverse_ip}</param>
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
index e2f8b2e..8f43a81 100644
--- a/urdf/ur.urdf.xacro
+++ b/urdf/ur.urdf.xacro
@@ -21,6 +21,7 @@
    <xacro:arg name="safety_k_position" default="20"/>
    <!-- ros2_control related parameters -->
    <xacro:arg name="headless_mode" default="false" />
+   <xacro:arg name="simulated_robot" 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=""/>
@@ -72,6 +73,7 @@
      sim_gazebo="$(arg sim_gazebo)"
      sim_ignition="$(arg sim_ignition)"
      headless_mode="$(arg headless_mode)"
+     simulated_robot="$(arg simulated_robot)"
      initial_positions="${xacro.load_yaml(initial_positions_file)}"
      use_tool_communication="$(arg use_tool_communication)"
      tool_voltage="$(arg tool_voltage)"
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 7e43bcd..fe8b51a 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -71,6 +71,7 @@
     sim_gazebo:=false
     sim_ignition:=false
     headless_mode:=false
+    simulated_robot:=false
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
     use_tool_communication:=false
     tool_voltage:=0
@@ -108,6 +109,7 @@
       initial_positions="${initial_positions}"
       fake_sensor_commands="${fake_sensor_commands}"
       headless_mode="${headless_mode}"
+      simulated_robot="${simulated_robot}"
       sim_gazebo="${sim_gazebo}"
       sim_ignition="${sim_ignition}"
       script_filename="${script_filename}"