Updated default kinematics filename and removed ur_e_description

Author: fmauch

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -26,7 +26,7 @@ Debug flag that will get passed on to ur_common.launch
 
 Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
 
-##### kinematics_config (default: "$(find ur_e_description)/config/ur3e_default.yaml")
+##### kinematics_config (default: "$(find ur_description)/config/ur3e/default_kinematics.yaml.yaml")
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
@@ -38,7 +38,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_e_description)/launch/load_ur3e.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur3e.launch")
 
 Robot description launch file.
 
@@ -116,7 +116,7 @@ Debug flag that will get passed on to ur_common.launch
 
 Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
 
-##### kinematics_config (default: "$(find ur_description)/config/ur10_default.yaml")
+##### kinematics_config (default: "$(find ur_description)/config/ur10/default_kinematics.yaml.yaml")
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
@@ -358,7 +358,7 @@ Debug flag that will get passed on to ur_common.launch
 
 Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
 
-##### kinematics_config (default: "$(find ur_description)/config/ur5_default.yaml")
+##### kinematics_config (default: "$(find ur_description)/config/ur5/default_kinematics.yaml.yaml")
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
@@ -412,7 +412,7 @@ Debug flag that will get passed on to ur_common.launch
 
 Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
 
-##### kinematics_config (default: "$(find ur_e_description)/config/ur5e_default.yaml")
+##### kinematics_config (default: "$(find ur_description)/config/ur5e/default_kinematics.yaml.yaml")
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
@@ -424,7 +424,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_e_description)/launch/load_ur5e.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur5e.launch")
 
 Robot description launch file.
 
@@ -502,7 +502,7 @@ Debug flag that will get passed on to ur_common.launch
 
 Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
 
-##### kinematics_config (default: "$(find ur_description)/config/ur3_default.yaml")
+##### kinematics_config (default: "$(find ur_description)/config/ur3/default_kinematics.yaml.yaml")
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
@@ -556,7 +556,7 @@ Debug flag that will get passed on to ur_common.launch
 
 Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
 
-##### kinematics_config (default: "$(find ur_e_description)/config/ur10e_default.yaml")
+##### kinematics_config (default: "$(find ur_description)/config/ur10e/default_kinematics.yaml.yaml")
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
@@ -568,7 +568,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_e_description)/launch/load_ur10e.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur10e.launch")
 
 Robot description launch file.
 

ur_robot_driver/package.xml

@@ -48,7 +48,6 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>socat</exec_depend>
   <exec_depend>ur_description</exec_depend>
-  <exec_depend>ur_e_description</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>
 
   <export>