added fixed frame link "world"

my_robot_cell/my_robot_cell_description/urdf/my_robot_cell.urdf.xacro

@@ -0,0 +1,103 @@
+<?xml version="1.0"?>
+<robot name="my_robot_cell" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
+  <xacro:arg name="ur_type" default="ur20"/>
+  <xacro:arg name="robot_ip" default="0.0.0.0"/>
+  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
+  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
+  <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
+  <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
+  <xacro:arg name="ur_script_filename" default="$(find ur_client_library)/resources/external_control.urscript"/>
+  <xacro:arg name="ur_output_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
+  <xacro:arg name="ur_input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"/>
+
+  <link name="world"/>
+  <joint name="base_link_to_world" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 1"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://my_robot_cell_description/meshes/171005_Motek_Tisch.dae"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.75 0.5 -1"/>
+    </visual>
+    <material name="black"/>
+    <collision>
+      <geometry>
+        <mesh filename="package://my_robot_cell_description/meshes/171005_Motek_Tisch.dae"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.75 0.5 -1"/>
+    </collision>
+  </link>
+
+  <link name="monitor">
+    <visual>
+      <geometry>
+        <mesh filename="package://my_robot_cell_description/meshes/171005_Motek_Monitor_L.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://my_robot_cell_description/meshes/171005_Motek_Monitor_L.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_to_monitor" type="fixed">
+    <parent link="base_link"/>
+    <child link="monitor"/>
+    <origin xyz="0.2 0.6 0"/>
+  </joint>
+
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+
+  <link name="wall">
+    <visual>
+      <geometry>
+        <box size="3 0.1 2.5"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="3 0.1 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_to_wall" type="fixed">
+    <parent link="base_link"/>
+    <child link="wall"/>
+    <origin xyz="0.75 1.5 0.5"/>
+  </joint>
+
+  <link name="robot_position"/>
+  <joint name="base_to_robot_position" type="fixed">
+    <parent link="base_link"/>
+    <child link="robot_position"/>
+    <origin xyz="0.845 0.9 0" rpy="0 0 0" />
+  </joint>
+
+  <xacro:ur_robot
+    name="$(arg ur_type)"
+    tf_prefix="$(arg ur_type)_"
+    parent="robot_position"
+    robot_ip="$(arg robot_ip)"
+    joint_limits_parameters_file="$(arg joint_limit_params)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    physical_parameters_file="$(arg physical_params)"
+    visual_parameters_file="$(arg visual_params)"
+    script_filename="$(arg ur_script_filename)"
+    output_recipe_filename="$(arg ur_output_recipe_filename)"
+    input_recipe_filename="$(arg ur_input_recipe_filename)"
+  >
+    <origin xyz="0 0 0" rpy="0 0 ${pi}" />
+  </xacro:ur_robot>
+
+</robot>