Hello all!

I am not new to ROS but I have never had to edit a robot model before (luckily). I downloaded th UR5e robot files from this repository. In ur_description/urdf I can find a basically 3 main files:

1. ur5e.xacro
2. ur5e_macro.xacro
3. ur_macro

From what is my few knowledge in URDF/xacros etc, the 1st includes the 2nd that includes the 3rd. In this way we can have one file to describe all the UR versions and with the other two we pass the proper parameters base on the robot we choose.

I created a xacro file that describes my gripper (actually just two cilynders) and I would like to have a final modalof the robot that also integrates the gripper. My final goal is to create a moveit package with the UR5e robot + my gripper in order to move the manipulator keeping the collision check plugin.

my xacro file look like this:

<?xml version="1.0"?> <!-- The parent link must be read from the robot model it is attached to. --> <!-- The tool is directly attached to the flange. --> <!-- The path to the visual meshes in the package. --> <!-- The path to the collision meshes in the package. --> <!-- Create a fixed joint with a parameterized name. --> <!-- The parent link must be read from the robot model it is attached to. --> <!-- The tool is directly attached to the flange. --> <!-- The path to the visual meshes in the package. --> <!-- The path to the collision meshes in the package. --> <!-- TCP frame --> /xacro:macro