Hi,

I have a robotcell composed of a motoman robot, walls and some objects like tables and shelves. I use an xacro to combine the models in one big robot_description - somewhat like the following. I also use xacro:if and arguments to dynamically change the way the final robot system looks like (eg dont include the shelves). I structured it like this, so I can use the workcell_macro later on to include more elements like endeffectors etc to the robot.

workcell.xacro
    world link
    includes workcell_macro.xacro
        includes walls_macro.xacro
        includes objects_macro.xacro
        includes motoman_macro.xacro
    defines all necessary joints

Now this works totally fine, but my big problem are now the SRDF(s). I need to disable alot of collision, as the walls overlap with some objects (which is fine, as the walls are only for safety purposes). I have a SRDF from motoman, which i copied and extended with all my objects that I added. But if I now want to include this worcell_macro into another xacro, I need to re-copy all the previously specified disables collisions and extend it with the new ones? Is there a way to also compose SRDF files, like with URDFs and XACROs?

This is also related to a different post of mine: https://www.reddit.com/r/ROS/comments/y9pch5/moveit_concept_of_modelling_environmental_objects/

Btw: I use Noetic on Ubuntu 20.03 with ROS-I and moveit.

Thanks for the help!