Remove references to ignition in message types.

diff --git a/q2d_description/config/ros_gz_bridge.yaml b/q2d_description/config/ros_gz_bridge.yaml
index 2154629..33167fe 100644 (file)
--- a/q2d_description/config/ros_gz_bridge.yaml
+++ b/q2d_description/config/ros_gz_bridge.yaml
@@ -1,7 +1,7 @@
 - ros_topic_name: "/clock"
   gz_topic_name: "/clock"
   ros_type_name: "rosgraph_msgs/msg/Clock"
-  gz_type_name: "ignition.msgs.Clock"
+  gz_type_name: "gz.msgs.Clock"
 #  subscriber_queue: 5       # Default 10
 #  publisher_queue: 6        # Default 10
 #  lazy: true                # Default "false"

diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index abe7be3..9b4dd72 100644 (file)
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -73,7 +73,7 @@
                <child link="shoulder_active_link"/>
                <origin xyz="0 0 0.1477"/>
                <axis xyz="0 0 1"/>
-               <limit lower="-1.570796326794897" upper="1.570796326794897"
+               <limit lower="${-pi/2}" upper="${pi/2}"
                        velocity="2.27" effort="27.94" />
                <dynamics damping="29.7914" />
        </joint>
@@ -138,7 +138,7 @@
                <child link="elbow_active_link"/>
                <origin xyz="0.343 0 0"/>
                <axis xyz="0 0 1"/>
-               <limit lower="-1.570796326794897" upper="1.570796326794897"
+               <limit lower="${-pi/2}" upper="${pi/2}"
                        velocity="23.08" effort="13.62" />
                <dynamics damping="2.6404" />
        </joint>