From 2e1fee2ffc5925e3cabe25bb6c07bb02220f94f6 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 5 May 2015 16:00:14 +0200
Subject: [PATCH] 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 | 4 ++--
ur_description/urdf/ur10_joint_limited_robot.urdf | 4 ++--
ur_description/urdf/ur10_robot.urdf | 4 ++--
ur_description/urdf/ur5.urdf.xacro | 4 ++--
ur_description/urdf/ur5_joint_limited_robot.urdf | 4 ++--
ur_description/urdf/ur5_robot.urdf | 4 ++--
6 files changed, 12 insertions(+), 12 deletions(-)
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index a4dd2fb..333c542 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/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"/>
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index 3aab4c0..a01152a 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/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"/>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index a614413..def9d24 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/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"/>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 2c5998b..324ff52 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/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"/>
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf b/ur_description/urdf/ur5_joint_limited_robot.urdf
index eb20008..ebce3b0 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/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"/>
diff --git a/ur_description/urdf/ur5_robot.urdf b/ur_description/urdf/ur5_robot.urdf
index a912fba..4ff7e3e 100644
--- a/ur_description/urdf/ur5_robot.urdf
+++ b/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"/>
--
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