diff --git a/darwin_description/urdf/darwin_high_res.xacro b/darwin_description/urdf/darwin_high_res.xacro
index b953a1387579453df7e82bbe1f3c4678f2d4a7fb..1944cca8d103b3098d4feadc2f42c50d2d09424e 100755
--- a/darwin_description/urdf/darwin_high_res.xacro
+++ b/darwin_description/urdf/darwin_high_res.xacro
@@ -418,10 +418,10 @@
<transmission name="tran_pan">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_pan">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="pan_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -438,10 +438,10 @@
<transmission name="tran_tilt">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_tilt">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="tilt_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -458,10 +458,10 @@
<transmission name="tran_shoulder_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pitch_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -478,10 +478,10 @@
<transmission name="tran_shoulder_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_roll_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -498,10 +498,10 @@
<transmission name="tran_shoulder_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pitch_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -518,10 +518,10 @@
<transmission name="tran_shoulder_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_roll_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -538,10 +538,10 @@
<transmission name="tran_hip_yaw_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_yaw_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -558,10 +558,10 @@
<transmission name="tran_hip_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_roll_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -578,10 +578,10 @@
<transmission name="tran_hip_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_pitch_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -598,10 +598,10 @@
<transmission name="tran_knee_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="knee_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -618,10 +618,10 @@
<transmission name="tran_ankle_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_pitch_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -638,10 +638,10 @@
<transmission name="tran_hip_yaw_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_yaw_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -658,10 +658,10 @@
<transmission name="tran_hip_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_roll_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -678,10 +678,10 @@
<transmission name="tran_hip_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_pitch_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -698,10 +698,10 @@
<transmission name="tran_knee_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="knee_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -718,10 +718,10 @@
<transmission name="tran_ankle_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_pitch_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/darwin_low_res.xacro b/darwin_description/urdf/darwin_low_res.xacro
index cd2dd5e05587847ba54b005cf6355caaafd71f5e..c2581ce60543ceb67113758c76ac28d9889a513e 100755
--- a/darwin_description/urdf/darwin_low_res.xacro
+++ b/darwin_description/urdf/darwin_low_res.xacro
@@ -405,10 +405,10 @@
<transmission name="tran_pan">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_pan">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="pan_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -425,10 +425,10 @@
<transmission name="tran_tilt">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_tilt">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="tilt_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -445,10 +445,10 @@
<transmission name="tran_shoulder_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pitch_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -465,10 +465,10 @@
<transmission name="tran_shoulder_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_roll_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -485,10 +485,10 @@
<transmission name="tran_shoulder_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pitch_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -505,10 +505,10 @@
<transmission name="tran_shoulder_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_roll_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -525,10 +525,10 @@
<transmission name="tran_hip_yaw_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_yaw_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -545,10 +545,10 @@
<transmission name="tran_hip_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_roll_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -565,10 +565,10 @@
<transmission name="tran_hip_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_pitch_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -585,10 +585,10 @@
<transmission name="tran_knee_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="knee_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -605,10 +605,10 @@
<transmission name="tran_ankle_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_pitch_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -625,10 +625,10 @@
<transmission name="tran_hip_yaw_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_yaw_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -645,10 +645,10 @@
<transmission name="tran_hip_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_roll_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -665,10 +665,10 @@
<transmission name="tran_hip_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_pitch_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -685,10 +685,10 @@
<transmission name="tran_knee_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="knee_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -705,10 +705,10 @@
<transmission name="tran_ankle_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_pitch_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/gripper.xacro b/darwin_description/urdf/gripper.xacro
index bc01d1656043f6347631cadccebf8b876c3c2215..a2215018374edb0eaccdc62f587b6ef84b0a1353 100755
--- a/darwin_description/urdf/gripper.xacro
+++ b/darwin_description/urdf/gripper.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -83,10 +83,10 @@
<transmission name="tran_wrist_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_wrist_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -127,10 +127,10 @@
<transmission name="tran_finger1_seg1_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_finger1_seg1_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/gripper_sc.xacro b/darwin_description/urdf/gripper_sc.xacro
index 7f68209398ef037e331f9986efb791173b22e1d2..5a5269f436c8da20a6ed6557c9be6afbb7fe1922 100755
--- a/darwin_description/urdf/gripper_sc.xacro
+++ b/darwin_description/urdf/gripper_sc.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -83,10 +83,10 @@
<transmission name="tran_gripper_bot_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_bot_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_bot_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -126,10 +126,10 @@
<transmission name="tran_gripper_top_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_top_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_top_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/gripper_sc_low_res.xacro b/darwin_description/urdf/gripper_sc_low_res.xacro
index 3811b605d3107aa7e79d07a7a6783937f901f16c..52838e437cefa95d67b0743457012e58c3f4113c 100755
--- a/darwin_description/urdf/gripper_sc_low_res.xacro
+++ b/darwin_description/urdf/gripper_sc_low_res.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -83,10 +83,10 @@
<transmission name="tran_gripper_bot_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_bot_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_bot_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -126,10 +126,10 @@
<transmission name="tran_gripper_top_${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_top_${name}">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_top_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/left_foot.xacro b/darwin_description/urdf/left_foot.xacro
index 3f5b6247c59b71c2d67f3b860106aa29f8979b1c..d6e64871294cfbf05dd01074c96655266c8bdda0 100755
--- a/darwin_description/urdf/left_foot.xacro
+++ b/darwin_description/urdf/left_foot.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/left_hand.xacro b/darwin_description/urdf/left_hand.xacro
index 55f001d2a4558cf5074d3e99f35042eab2af5a4e..9dfa4beea73ef1717a2380bd8eb6e73c5f2ffffd 100755
--- a/darwin_description/urdf/left_hand.xacro
+++ b/darwin_description/urdf/left_hand.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_elbow_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/left_sensor_foot.xacro b/darwin_description/urdf/left_sensor_foot.xacro
index 54319462ce954c904293ca4cc7523c390d2b1593..45fb6d9f1bd92748f9fa2822937232a351fc2d46 100755
--- a/darwin_description/urdf/left_sensor_foot.xacro
+++ b/darwin_description/urdf/left_sensor_foot.xacro
@@ -41,10 +41,10 @@
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/right_foot.xacro b/darwin_description/urdf/right_foot.xacro
index 977843f2c398df4fc700b371de9b24a8c54940f5..bdd8a1b78e5f8430f6e8fd4d582a2372241adc27 100755
--- a/darwin_description/urdf/right_foot.xacro
+++ b/darwin_description/urdf/right_foot.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/right_hand.xacro b/darwin_description/urdf/right_hand.xacro
index 7d4263c2cf49c2b0a43779430a872c68b0bbf4ab..8c06c5d1f4ce5aec3e365a820eda031d48ed1bbb 100755
--- a/darwin_description/urdf/right_hand.xacro
+++ b/darwin_description/urdf/right_hand.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_elbow_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/right_sensor_foot.xacro b/darwin_description/urdf/right_sensor_foot.xacro
index f1e86c5fb34be2f04e1ab417a172c0b9d2313d76..a8ab93be0da60fb89708d796be4226493d1797fb 100755
--- a/darwin_description/urdf/right_sensor_foot.xacro
+++ b/darwin_description/urdf/right_sensor_foot.xacro
@@ -41,10 +41,10 @@
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>