From dfe91744d113514c770a78a4849f31396f49bfae Mon Sep 17 00:00:00 2001 From: Aron Svastits Date: Mon, 20 Nov 2023 19:10:20 +0100 Subject: [PATCH] join_ai -> joint_i --- .../config/dummy_impedance_publisher.yaml | 12 +++++----- .../config/dummy_publisher.yaml | 12 +++++----- .../config/moveit_controllers.yaml | 12 +++++----- .../config/effort_controller_config.yaml | 24 +++++++++---------- .../joint_impedance_controller_config.yaml | 12 +++++----- .../joint_trajectory_controller_config.yaml | 12 +++++----- .../joint_trajectory_controller_config.yaml | 12 +++++----- .../joint_trajectory_controller_config.yaml | 13 +++++----- 8 files changed, 55 insertions(+), 54 deletions(-) diff --git a/examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml b/examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml index 2eec55ca..aae601cb 100644 --- a/examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml +++ b/examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml @@ -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 diff --git a/examples/iiqka_moveit_example/config/dummy_publisher.yaml b/examples/iiqka_moveit_example/config/dummy_publisher.yaml index 8c2bce81..6b2a013f 100644 --- a/examples/iiqka_moveit_example/config/dummy_publisher.yaml +++ b/examples/iiqka_moveit_example/config/dummy_publisher.yaml @@ -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 diff --git a/examples/iiqka_moveit_example/config/moveit_controllers.yaml b/examples/iiqka_moveit_example/config/moveit_controllers.yaml index 2539cb08..3dd73c3f 100644 --- a/examples/iiqka_moveit_example/config/moveit_controllers.yaml +++ b/examples/iiqka_moveit_example/config/moveit_controllers.yaml @@ -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 diff --git a/kuka_iiqka_eac_driver/config/effort_controller_config.yaml b/kuka_iiqka_eac_driver/config/effort_controller_config.yaml index 1a87f1ab..838d627b 100644 --- a/kuka_iiqka_eac_driver/config/effort_controller_config.yaml +++ b/kuka_iiqka_eac_driver/config/effort_controller_config.yaml @@ -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 diff --git a/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml b/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml index abe8b217..4bf5cb9c 100644 --- a/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml +++ b/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml @@ -1,9 +1,9 @@ joint_impedance_controller: ros__parameters: joints: - - joint_a1 - - joint_a2 - - joint_a3 - - joint_a4 - - joint_a5 - - joint_a6 \ No newline at end of file + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 \ No newline at end of file diff --git a/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml b/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml index 724670e2..0fb9c446 100644 --- a/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml +++ b/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml @@ -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 diff --git a/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml b/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml index 3de96e7b..85b8feaa 100644 --- a/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml +++ b/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml @@ -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 diff --git a/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml b/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml index 6d0ce6b3..62619923 100644 --- a/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml +++ b/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml @@ -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