Fix xacro and launcher

Author: Jepear19

Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/ur5_robotiq_2f85.urdf.xacro

@@ -55,6 +55,9 @@
   <xacro:arg name="output_recipe_filename" default="none"/>
   <xacro:property name="output_recipe_filename" value="$(arg output_recipe_filename)"/>
 
+  <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
+
   <!-- Include XACRO-MACRO file of the UR5: -->
   <xacro:include filename="/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/ur5/urdf/ur5_macro.urdf.xacro"/>
   <xacro:ur5 
@@ -87,9 +90,7 @@
           </hardware>
         </ros2_control>
 
-        <parameters>/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/ur5/config/controller.yaml</parameters>
-
-        <parameters>/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/${EE_name}/config/controller.yaml</parameters>
+        <parameters>${simulation_controllers}</parameters>
 
       </plugin>
 

Launchers/pick_place_harmonic/pick_place_harmonic.launch.py

@@ -175,6 +175,8 @@ def generate_launch_description():
         robot_description_semantic,
         kinematics_yaml,
         {"use_sim_time": True},
+        {"ROB_PARAM": "ur5"},
+        {"EE_PARAM": "robotiq_2f85"},
     ]
 
     move_node = Node(
@@ -198,13 +200,18 @@ def generate_launch_description():
         parameters=common_params,
     )
 
+    delayed_spawn = TimerAction(
+        period=3.0,
+        actions=[spawn_robot],
+    )
+
 
     return LaunchDescription([
 
         gz,
         robot_state_publisher,
         clock_bridge,
-        spawn_robot,
+        delayed_spawn,
 
         # Controllers chain
         RegisterEventHandler(