How to include my own tcp to be visualised in rviz and gazebo?

[T-BonesLek]

To be able to update my new urdf.xacro for ur5 cb3 with my custom gripper included I must perform "colcon build" on the source directory such that ur_robot_driver/urdf/ur.urdf.xacro is updated and be executable. I get lots of errors when trying to build the repo out of the box. Is there another way to include my gripper than trying to change UR's working Driver package.

[RobertWilbrandt]

The normal workflow for this is to create a custom package with your own URDF that includes and instantiates ur_macro. The driver supports this by letting you specify the description_package and description_file in the launch file. We are currently creating a tutorial for this here, even if it is not finished you can take a look if that is helpful for you.

If you have further compilation problems with the robot please file an issue containing your workflow and the relevant build logs.