Changed URDF to support Effort and Voltage hardware interfaces.

diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index 7915de2..5b542c5 100644 (file)
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -173,6 +173,7 @@
        <transmission name="shoulder_active_transmission">\r
                <type>transmission_interface/SimpleTransmission</type>\r
                <joint name="shoulder_active_joint">\r
+                       <hardwareInterface>VoltageJointInterface</hardwareInterface>\r
                        <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                </joint>\r
                <actuator name="shoulder_motor">\r
@@ -183,6 +184,7 @@
        <transmission name="elbow_active_transmission">\r
                <type>transmission_interface/SimpleTransmission</type>\r
                <joint name="elbow_active_joint">\r
+                       <hardwareInterface>VoltageJointInterface</hardwareInterface>\r
                        <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                </joint>\r
                <actuator name="elbow_motor">\r