From abe784378ab2326caf96f56eb5465c50bb059abb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mathias=20L=C3=BCdtke?= <mathias.luedtke@ipa.fraunhofer.de>
Date: Tue, 28 May 2013 13:50:51 +0200
Subject: [PATCH] prefix versions of gazebo and transmission macros
---
ur_description/urdf/ur10.gazebo.xacro | 16 ++++++++--------
ur_description/urdf/ur10.transmission.xacro | 14 +++++++-------
ur_description/urdf/ur10.urdf.xacro | 4 ++--
3 files changed, 17 insertions(+), 17 deletions(-)
diff --git a/ur_description/urdf/ur10.gazebo.xacro b/ur_description/urdf/ur10.gazebo.xacro
index a92d61d..deba3b3 100644
--- a/ur_description/urdf/ur10.gazebo.xacro
+++ b/ur_description/urdf/ur10.gazebo.xacro
@@ -5,39 +5,39 @@
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_1_link">
<material value="Gazebo/Grey" />
<turnGravityOff>false</turnGravityOff>
</gazebo>
diff --git a/ur_description/urdf/ur10.transmission.xacro b/ur_description/urdf/ur10.transmission.xacro
index 771fc3a..efe2b62 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 9421d2d..787927a 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>
--
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