From 1078e6df23f0289958eb263ef92355bceee7f6e4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mathias=20L=C3=BCdtke?= <mathias.luedtke@ipa.fraunhofer.de>
Date: Tue, 4 Jun 2013 09:02:53 +0200
Subject: [PATCH] removed arm_ prefix from joint names in gazebo controller
config
---
ur_gazebo/controller/arm_controller_ur10.yaml | 48 +++++++++----------
ur_gazebo/controller/arm_controller_ur5.yaml | 48 +++++++++----------
2 files changed, 48 insertions(+), 48 deletions(-)
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index 48f7b72..4e247f3 100644
--- a/ur_gazebo/controller/arm_controller_ur10.yaml
+++ b/ur_gazebo/controller/arm_controller_ur10.yaml
@@ -1,53 +1,53 @@
arm_controller:
type: robot_mechanism_controllers/JointTrajectoryActionController
joints:
- - arm_shoulder_pan_joint
- - arm_shoulder_lift_joint
- - arm_elbow_joint
- - arm_wrist_1_joint
- - arm_wrist_2_joint
- - arm_wrist_3_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
gains:
- arm_shoulder_pan_joint:
+ shoulder_pan_joint:
p: 2000.0
d: 0.0
- arm_shoulder_lift_joint:
+ shoulder_lift_joint:
p: 2000.0
d: 0.0
- arm_elbow_joint:
+ elbow_joint:
p: 2000.0
d: 0.0
- arm_wrist_1_joint:
+ wrist_1_joint:
p: 2020.0
d: 0.0
- arm_wrist_2_joint:
+ wrist_2_joint:
p: 2030.0
d: 0.0
- arm_wrist_3_joint:
+ wrist_3_joint:
p: 2050.0
d: 0.0
arm_joint_trajectory_action_node:
joints:
- - arm_shoulder_pan_joint
- - arm_shoulder_lift_joint
- - arm_elbow_joint
- - arm_wrist_1_joint
- - arm_wrist_2_joint
- - arm_wrist_3_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
constraints:
goal_time: 0.6
- arm_shoulder_pan_joint:
+ shoulder_pan_joint:
goal: 0.05
- arm_shoulder_lift_joint:
+ shoulder_lift_joint:
goal: 0.05
- arm_elbow_joint:
+ elbow_joint:
goal: 0.05
- arm_wrist_1_joint:
+ wrist_1_joint:
goal: 0.05
- arm_wrist_2_joint:
+ wrist_2_joint:
goal: 0.05
- arm_wrist_3_joint:
+ wrist_3_joint:
goal: 0.05
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
index 48f7b72..4e247f3 100644
--- a/ur_gazebo/controller/arm_controller_ur5.yaml
+++ b/ur_gazebo/controller/arm_controller_ur5.yaml
@@ -1,53 +1,53 @@
arm_controller:
type: robot_mechanism_controllers/JointTrajectoryActionController
joints:
- - arm_shoulder_pan_joint
- - arm_shoulder_lift_joint
- - arm_elbow_joint
- - arm_wrist_1_joint
- - arm_wrist_2_joint
- - arm_wrist_3_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
gains:
- arm_shoulder_pan_joint:
+ shoulder_pan_joint:
p: 2000.0
d: 0.0
- arm_shoulder_lift_joint:
+ shoulder_lift_joint:
p: 2000.0
d: 0.0
- arm_elbow_joint:
+ elbow_joint:
p: 2000.0
d: 0.0
- arm_wrist_1_joint:
+ wrist_1_joint:
p: 2020.0
d: 0.0
- arm_wrist_2_joint:
+ wrist_2_joint:
p: 2030.0
d: 0.0
- arm_wrist_3_joint:
+ wrist_3_joint:
p: 2050.0
d: 0.0
arm_joint_trajectory_action_node:
joints:
- - arm_shoulder_pan_joint
- - arm_shoulder_lift_joint
- - arm_elbow_joint
- - arm_wrist_1_joint
- - arm_wrist_2_joint
- - arm_wrist_3_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
constraints:
goal_time: 0.6
- arm_shoulder_pan_joint:
+ shoulder_pan_joint:
goal: 0.05
- arm_shoulder_lift_joint:
+ shoulder_lift_joint:
goal: 0.05
- arm_elbow_joint:
+ elbow_joint:
goal: 0.05
- arm_wrist_1_joint:
+ wrist_1_joint:
goal: 0.05
- arm_wrist_2_joint:
+ wrist_2_joint:
goal: 0.05
- arm_wrist_3_joint:
+ wrist_3_joint:
goal: 0.05
--
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