Merge pull request #7 from ipa-mdl/gazebo_fix

Gazebo fixes

ur_description/urdf/gazebo.urdf.xacro

@@ -4,17 +4,15 @@
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
   <gazebo>
-    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
+	<plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so">
       <alwaysOn>true</alwaysOn>
       <updateRate>1000.0</updateRate>
-      <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
-    </controller:gazebo_ros_controller_manager>
+    </plugin>
 
-    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
+    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
       <alwaysOn>true</alwaysOn>
       <updateRate>1.0</updateRate>
       <timeout>5</timeout>
-      <interface:audio name="power_monitor_dummy_interface" />
       <powerStateTopic>power_state</powerStateTopic>
       <powerStateRate>10.0</powerStateRate>
       <fullChargeCapacity>87.78</fullChargeCapacity>     
@@ -22,7 +20,7 @@
       <chargeRate>525</chargeRate>
       <dischargeVoltage>15.52</dischargeVoltage>
       <chargeVoltage>16.41</chargeVoltage>
-    </controller:gazebo_ros_power_monitor>
+    </plugin>
   </gazebo>
 
 </robot>

ur_description/urdf/ur10.gazebo.xacro

@@ -5,43 +5,42 @@
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
        xmlns:xacro="http://ros.org/wiki/xacro">
 
-	<xacro:macro name="ur10_arm_gazebo" params="name">
+	<xacro:macro name="ur10_arm_gazebo" params="prefix">
 
-		<gazebo reference="${name}_base_link">
+		<gazebo reference="${prefix}base_link">
 			<material value="Gazebo/Grey" />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
 
-		<gazebo reference="${name}_shoulder_pan_link">
+		<gazebo reference="${prefix}shoulder_pan_link">
 			<material value="Gazebo/Blue " />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
 
-		<gazebo reference="${name}_shoulder_lift_link">
+		<gazebo reference="${prefix}shoulder_lift_link">
 			<material value="Gazebo/Grey" />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
 	
-		<gazebo reference="${name}_elbow_link">
+		<gazebo reference="${prefix}elbow_link">
 			<material value="Gazebo/Blue " />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
 	
-		<gazebo reference="${name}_wrist_1_link">
+		<gazebo reference="${prefix}wrist_1_link">
 			<material value="Gazebo/Grey" />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
 	
-		<gazebo reference="${name}_wrist_2_link">
+		<gazebo reference="${prefix}wrist_2_link">
 			<material value="Gazebo/Blue " />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
 
-		<gazebo reference="${name}_wrist_1_link">
+		<gazebo reference="${prefix}wrist_3_link">
 			<material value="Gazebo/Grey" />
 			<turnGravityOff>false</turnGravityOff>
 		</gazebo>
-
 	</xacro:macro>
 
 </robot>

ur_description/urdf/ur10.transmission.xacro

@@ -5,41 +5,41 @@
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
        xmlns:xacro="http://ros.org/wiki/xacro">
 
-	<xacro:macro name="ur10_arm_transmission" params="name">
+	<xacro:macro name="ur10_arm_transmission" params="prefix">
 
 		<transmission name="shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
 			<actuator name="shoulder_pan_motor"/>
-			<joint name="${name}_shoulder_pan_joint"/>
+			<joint name="${prefix}shoulder_pan_joint"/>
 			<mechanicalReduction>1</mechanicalReduction>
 		</transmission>
 	
 		<transmission name="shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
 			<actuator name="shoulder_lift_motor"/>
-			<joint name="${name}_shoulder_lift_joint"/>
+			<joint name="${prefix}shoulder_lift_joint"/>
 			<mechanicalReduction>1</mechanicalReduction>
 		</transmission>
 	
 		<transmission name="elbow_trans" type="pr2_mechanism_model/SimpleTransmission">
 			<actuator name="elbow_motor"/>
-			<joint name="${name}_elbow_joint"/>
+			<joint name="${prefix}elbow_joint"/>
 			<mechanicalReduction>1</mechanicalReduction>
 		</transmission>
 	
 		<transmission name="wrist_1_trans" type="pr2_mechanism_model/SimpleTransmission">
 			<actuator name="wrist_1_motor"/>
-			<joint name="${name}_wrist_1_joint"/>
+			<joint name="${prefix}wrist_1_joint"/>
 			<mechanicalReduction>1</mechanicalReduction>
 		</transmission>
 	
 		<transmission name="wrist_2_trans" type="pr2_mechanism_model/SimpleTransmission">
 			<actuator name="wrist_2_motor"/>
-			<joint name="${name}_wrist_2_joint"/>
+			<joint name="${prefix}wrist_2_joint"/>
 			<mechanicalReduction>1</mechanicalReduction>
 		</transmission>
 	
 		<transmission name="wrist_3_trans" type="pr2_mechanism_model/SimpleTransmission">
 			<actuator name="wrist_3_motor"/>
-			<joint name="${name}_wrist_3_joint"/>
+			<joint name="${prefix}wrist_3_joint"/>
 			<mechanicalReduction>1</mechanicalReduction>
 		</transmission> 
 

ur_description/urdf/ur10.urdf.xacro

@@ -264,8 +264,8 @@
 		</inertial>
 	</link>
 
-  <xacro:ur10_arm_transmission name="${prefix}" />
-  <xacro:ur10_arm_gazebo name="${prefix}" />
+  <xacro:ur10_arm_transmission prefix="${prefix}" />
+  <xacro:ur10_arm_gazebo prefix="${prefix}" />
 
   </xacro:macro>
 </robot>

ur_description/urdf/ur5.urdf.xacro

@@ -252,7 +252,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
 
   <link name="${prefix}ee_link" />
 
-  <xacro:ur_arm_transmission name="${prefix}" />
+  <xacro:ur5_arm_transmission name="${prefix}" />
 
   <gazebo reference="universal_robot">
     <material>Gazebo/Blue</material>

ur_gazebo/controller/arm_controller_ur10.yaml

 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
 
 

ur_gazebo/controller/arm_controller_ur5.yaml

 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