From 6d21480a2e9f93d27c25e2a73014b7c3a93789de Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 10 Jul 2018 09:54:50 +0200
Subject: [PATCH] Added the hardware_interface namespace to the transmissions
of the xacro files.
---
darwin_description/urdf/darwin_high_res.xacro | 64 +++++++++----------
darwin_description/urdf/darwin_low_res.xacro | 64 +++++++++----------
darwin_description/urdf/gripper.xacro | 12 ++--
darwin_description/urdf/gripper_sc.xacro | 12 ++--
.../urdf/gripper_sc_low_res.xacro | 12 ++--
darwin_description/urdf/left_foot.xacro | 4 +-
darwin_description/urdf/left_hand.xacro | 4 +-
.../urdf/left_sensor_foot.xacro | 4 +-
darwin_description/urdf/right_foot.xacro | 4 +-
darwin_description/urdf/right_hand.xacro | 4 +-
.../urdf/right_sensor_foot.xacro | 4 +-
11 files changed, 94 insertions(+), 94 deletions(-)
diff --git a/darwin_description/urdf/darwin_high_res.xacro b/darwin_description/urdf/darwin_high_res.xacro
index b953a13..1944cca 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 cd2dd5e..c2581ce 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 bc01d16..a221501 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_${name}_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
diff --git a/darwin_description/urdf/gripper_sc.xacro b/darwin_description/urdf/gripper_sc.xacro
index 7f68209..5a5269f 100755
--- a/darwin_description/urdf/gripper_sc.xacro
+++ b/darwin_description/urdf/gripper_sc.xacro
@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${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 3811b60..52838e4 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 3f5b624..d6e6487 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 55f001d..9dfa4be 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 5431946..45fb6d9 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 977843f..bdd8a1b 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 7d4263c..8c06c5d 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 f1e86c5..a8ab93b 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>
--
GitLab