diff --git a/ur_description/urdf/gazebo.urdf.xacro b/ur_description/urdf/gazebo.urdf.xacro
index e82aab97cb3a9c7c1db613eb7a60b019b2830a16..8cb1bb48f2c24029bfe84267d80e2c5cd7350f45 100644
--- a/ur_description/urdf/gazebo.urdf.xacro
+++ b/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>
diff --git a/ur_description/urdf/ur10.gazebo.xacro b/ur_description/urdf/ur10.gazebo.xacro
index a92d61df24cd4e4b8845acae6b8c2b3ed3db464c..3c3d43ece29fbec5ac98b0da3a9cb99619cb9fed 100644
--- a/ur_description/urdf/ur10.gazebo.xacro
+++ b/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>
diff --git a/ur_description/urdf/ur10.transmission.xacro b/ur_description/urdf/ur10.transmission.xacro
index 771fc3acb165a8d84ba9f434e523c24537e5ab03..efe2b6223ef6f0f0b2f369040f569e9ed874784a 100644
--- a/ur_description/urdf/ur10.transmission.xacro
+++ b/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>
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 9421d2d5415fad6c5eb9af8ce71c32863da749bd..787927a9921c56cec00af2995d9b118ce9553173 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/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>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index aca612375cb0dc1c58ec100fb5d754bc2da79c8b..a0499d6127fb41e05410f57830e3fec56b395582 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/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>
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index 48f7b72b64c2444b47088bc2da56a9a847008c5d..4e247f3844fdc454fd85cad00b9f11a0041101fe 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 48f7b72b64c2444b47088bc2da56a9a847008c5d..4e247f3844fdc454fd85cad00b9f11a0041101fe 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