From d74ed8647a5a180f4d7c513953e004786953790f Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Wed, 14 May 2025 13:08:47 +0300
Subject: [PATCH] chore(urdf): rename robot description package to
 aubo_description

---
 CMakeLists.txt                  |  2 +-
 launch/view_auboi5.launch.py    |  6 ++---
 package.xml                     |  2 +-
 urdf/aubo.gazebo.xacro          |  2 +-
 urdf/aubo_i5.urdf               | 28 +++++++++++-----------
 urdf/aubo_i5.urdf.xacro         | 39 ++++++++++++++++---------------
 urdf/aubo_i5_dh_ag95.urdf.xacro | 41 +++++++++++++++++----------------
 7 files changed, 61 insertions(+), 59 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 244e8d4..768e5ab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aubo_ros2_description)
+project(aubo_description)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
diff --git a/launch/view_auboi5.launch.py b/launch/view_auboi5.launch.py
index 48e43e0..b7f8d0b 100644
--- a/launch/view_auboi5.launch.py
+++ b/launch/view_auboi5.launch.py
@@ -27,7 +27,7 @@ def load_yaml(package_name, file_path):
 
 
 def generate_launch_description():
-    pkg_share = FindPackageShare("aubo_ros2_description")
+    pkg_share = FindPackageShare("aubo_description")
     default_rviz_config_path = PathJoinSubstitution(
         [pkg_share, "rviz", "view_rizon.rviz"]
     )
@@ -36,7 +36,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("aubo_ros2_description"), "urdf", "aubo_i5.urdf.xacro"]
+                [FindPackageShare("aubo_description"), "urdf", "aubo_i5.urdf.xacro"]
             ),
             " ",
             "name:=",
@@ -53,7 +53,7 @@ def generate_launch_description():
         parameters=[{"robot_description": robot_description_content}],
     )
 
-    # package_path = get_package_share_directory("aubo_ros2_description")
+    # package_path = get_package_share_directory("aubo_description")
     # joint_state_publisher_node = Node(
     #     package="joint_state_publisher",
     #     executable="joint_state_publisher",
diff --git a/package.xml b/package.xml
index d1969a7..6819c05 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>aubo_ros2_description</name>
+  <name>aubo_description</name>
   <version>1.0.0</version>
   <description>the aubo description</description>
   <maintainer email="834031119@qq.com">Shaosong</maintainer>
diff --git a/urdf/aubo.gazebo.xacro b/urdf/aubo.gazebo.xacro
index bd09f88..47c50d3 100755
--- a/urdf/aubo.gazebo.xacro
+++ b/urdf/aubo.gazebo.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
  
   <xacro:macro name="aubo_arm_gazebo" params="prefix">
 
diff --git a/urdf/aubo_i5.urdf b/urdf/aubo_i5.urdf
index 8a5c229..c0e9e9a 100755
--- a/urdf/aubo_i5.urdf
+++ b/urdf/aubo_i5.urdf
@@ -10,7 +10,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -19,7 +19,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -33,7 +33,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -42,7 +42,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -64,7 +64,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -73,7 +73,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -95,7 +95,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -104,7 +104,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -126,7 +126,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -135,7 +135,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -157,7 +157,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -166,7 +166,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -188,7 +188,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -197,7 +197,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
       </geometry>
     </collision>
   </link>
diff --git a/urdf/aubo_i5.urdf.xacro b/urdf/aubo_i5.urdf.xacro
index 1704655..045beab 100644
--- a/urdf/aubo_i5.urdf.xacro
+++ b/urdf/aubo_i5.urdf.xacro
@@ -5,11 +5,12 @@
 <!-- =================================================================================== -->
 
 <robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/aubo.transmission.xacro" />
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
 
-  <xacro:property name="hardware" value="gazebo" />
+  <xacro:property name="hardware" value="$(arg hardware)"/>
+  <xacro:property name="robot_ip" value="$(arg robot_ip)"/>
 
   <link name="base_link">
     <inertial>
@@ -21,7 +22,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -30,7 +31,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -45,7 +46,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -54,7 +55,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -77,7 +78,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -86,7 +87,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -109,7 +110,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -118,7 +119,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -141,7 +142,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -150,7 +151,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -173,7 +174,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -182,7 +183,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -205,7 +206,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -214,7 +215,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -235,7 +236,7 @@
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </joint>
 
-  <xacro:aubo_ros2_control hardware="${hardware}" />
+  <xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
   <xacro:if value="${hardware=='gazebo'}">
     <gazebo>
       <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
diff --git a/urdf/aubo_i5_dh_ag95.urdf.xacro b/urdf/aubo_i5_dh_ag95.urdf.xacro
index 5d5a4a3..0a1d95e 100644
--- a/urdf/aubo_i5_dh_ag95.urdf.xacro
+++ b/urdf/aubo_i5_dh_ag95.urdf.xacro
@@ -5,13 +5,14 @@
 <!-- =================================================================================== -->
 
 <robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/aubo.transmission.xacro" />
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
   <xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
-  <xacro:include filename="$(find aubo_ros2_description)/urdf/sensors.xacro" />
+  <xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
 
-  <xacro:property name="hardware" value="gazebo" />
+  <xacro:property name="hardware" value="$(arg hardware)"/>
+  <xacro:property name="robot_ip" value="$(arg robot_ip)"/>
 
   <link name="base_link">
     <inertial>
@@ -23,7 +24,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -32,7 +33,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -47,7 +48,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -56,7 +57,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -79,7 +80,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -88,7 +89,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -111,7 +112,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -120,7 +121,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -143,7 +144,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -152,7 +153,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -175,7 +176,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -184,7 +185,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -207,7 +208,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -216,7 +217,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
+        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
       </geometry>
     </collision>
   </link>
@@ -246,7 +247,7 @@
     <origin xyz="0.0 0.05 0.08" rpy="0.0 -1.57 -1.57" />
   </xacro:rgbd>
 
-  <xacro:aubo_ros2_control hardware="${hardware}" />
+  <xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
   <xacro:if value="${hardware=='gazebo'}">
     <gazebo>
       <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">