Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro

ur_description/urdf/ur10.urdf.xacro

@@ -58,16 +58,16 @@
 
   <xacro:macro name="ur10_robot" params="prefix">
 
-  <link name="${prefix}base_link" >
+	<link name="${prefix}base_link" >
   </link>
 
-  <joint name="${prefix}base_link_joint" type="fixed">
-    <parent link="${prefix}base_link" />
-    <child link = "${prefix}ur_base_link" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
+	<joint name="${prefix}base_joint" type="fixed">
+		<parent link="${prefix}base_link" />
+		<child link = "${prefix}ur_base_link" />
+		<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+	</joint>
 
-  <link name="${prefix}ur_base_link" >
+	<link name="${prefix}ur_base_link" >
 		<visual>
 		  <geometry>
 		    <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="${scale}"/>