xarm7_with_vacuum_gripper.xacro

<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="xarm7">
  <xacro:arg name="prefix" default=""/>
  <xacro:arg name="ros_namespace" default="xarm"/>
  <xacro:arg name="limited" default="false"/>
  <xacro:arg name="effort_control" default="false"/>
  <xacro:arg name="velocity_control" default="false"/>
  <!-- To add realsense d435i and vacuum gripper, set 'add_realsense_d435i' = true -->
  <xacro:arg name="add_realsense_d435i" default="false"/>

  <!-- load xarm7 robot -->
  <xacro:include filename="$(find xarm_description)/urdf/xarm7_robot_macro.xacro" />
  
  <!-- Attach gripper --> 
  <xacro:include filename="$(find xarm_description)/urdf/xarm_vacuum_gripper.urdf.xacro" />

  <xacro:xarm7_robot prefix="$(arg prefix)" namespace="$(arg ros_namespace)" limited="$(arg limited)" effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)" rs_d435i="$(arg add_realsense_d435i)"/>
  
  <xacro:if value="$(arg add_realsense_d435i)">
    <xacro:xarm_vacuum_gripper_urdf attach_to="$(arg prefix)link_eef" xyz="0 0 0.003" effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)" />
  </xacro:if>
  <xacro:unless value="$(arg add_realsense_d435i)">
    <xacro:xarm_vacuum_gripper_urdf attach_to="$(arg prefix)link_eef" effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)" />
  </xacro:unless>
</robot>