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join_ai -> joint_i
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Aron Svastits committed Nov 20, 2023
1 parent d148841 commit dfe9174
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Showing 8 changed files with 55 additions and 54 deletions.
12 changes: 6 additions & 6 deletions examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml
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Expand Up @@ -7,9 +7,9 @@
damping_goals: [0.7, 0.0, 0.7, 0.7, 0.7, 0.7]

joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
12 changes: 6 additions & 6 deletions examples/iiqka_moveit_example/config/dummy_publisher.yaml
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Expand Up @@ -15,11 +15,11 @@
positions: [-0.2, -1.57, -0.2, -0.2, -0.2, -0.2]

joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6

check_starting_point: false
12 changes: 6 additions & 6 deletions examples/iiqka_moveit_example/config/moveit_controllers.yaml
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Expand Up @@ -15,10 +15,10 @@ moveit_simple_controller_manager:
type: FollowJointTrajectory
default: true
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6

24 changes: 12 additions & 12 deletions kuka_iiqka_eac_driver/config/effort_controller_config.yaml
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@@ -1,34 +1,34 @@
effort_controller:
ros__parameters:
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
gains:
joint_a1:
joint_1:
p: 5.0
i: 0.0
d: 0.1
joint_a2:
joint_2:
p: 5.0
i: 0.0
d: 0.1
joint_a3:
joint_3:
p: 5.0
i: 0.0
d: 0.1
joint_a4:
joint_4:
p: 5.0
i: 0.0
d: 0.1
joint_a5:
joint_5:
p: 5.0
i: 0.0
d: 0.1
joint_a6:
joint_6:
p: 5.0
i: 0.0
d: 0.1
12 changes: 6 additions & 6 deletions kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml
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@@ -1,9 +1,9 @@
joint_impedance_controller:
ros__parameters:
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
12 changes: 6 additions & 6 deletions kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
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@@ -1,12 +1,12 @@
joint_trajectory_controller:
ros__parameters:
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6

command_interfaces:
- position
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12 changes: 6 additions & 6 deletions kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml
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@@ -1,12 +1,12 @@
joint_trajectory_controller:
ros__parameters:
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6

command_interfaces:
- position
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13 changes: 7 additions & 6 deletions kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml
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@@ -1,12 +1,13 @@
joint_trajectory_controller:
ros__parameters:
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
- joint_7

command_interfaces:
- position
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