description: add '_joint' suffix to newly introduced joint tags.

This is more in-line with naming of existing joint tags.

ur_description/urdf/ur10.urdf.xacro

@@ -302,7 +302,7 @@
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
     <link name="${prefix}base"/>
-    <joint name="${prefix}base_link-base" type="fixed">
+    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
       <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -314,7 +314,7 @@
 
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
-    <joint name="${prefix}wrist_3_link-tool0" type="fixed">
+    <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
       <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>

ur_description/urdf/ur10_joint_limited_robot.urdf

@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>

ur_description/urdf/ur10_robot.urdf

@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>

ur_description/urdf/ur5.urdf.xacro

@@ -317,7 +317,7 @@
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
     <link name="${prefix}base"/>
-    <joint name="${prefix}base_link-base" type="fixed">
+    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
       <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -329,7 +329,7 @@
 
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
-    <joint name="${prefix}wrist_3_link-tool0" type="fixed">
+    <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
       <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>

ur_description/urdf/ur5_joint_limited_robot.urdf

@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>

ur_description/urdf/ur5_robot.urdf

@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>