Fix deprecated syntax in <hardwareInterface> tag.

diff --git a/bhand_description/xacro/bhand_link1.urdf.xacro b/bhand_description/xacro/bhand_link1.urdf.xacro
index 293b44b..76d0a7d 100644 (file)
--- a/bhand_description/xacro/bhand_link1.urdf.xacro
+++ b/bhand_description/xacro/bhand_link1.urdf.xacro
@@ -54,10 +54,9 @@
        <transmission name="bhand_${joint}_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="bhand_${joint}">
-                       <hardwareInterface>PositionJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                </joint>
                <actuator name="bhand_${joint}_actuator">
-                       <hardwareInterface>PositionJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/bhand_description/xacro/bhand_link2.urdf.xacro b/bhand_description/xacro/bhand_link2.urdf.xacro
index 8b7ae93..0a90738 100644 (file)
--- a/bhand_description/xacro/bhand_link2.urdf.xacro
+++ b/bhand_description/xacro/bhand_link2.urdf.xacro
@@ -54,10 +54,9 @@
        <transmission name="bhand_${joint}_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="bhand_${joint}">
-                       <hardwareInterface>PositionJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                </joint>
                <actuator name="bhand_${joint}_actuator">
-                       <hardwareInterface>PositionJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/bhand_description/xacro/bhand_link3.urdf.xacro b/bhand_description/xacro/bhand_link3.urdf.xacro
index 745bb6b..fa18bb3 100644 (file)
--- a/bhand_description/xacro/bhand_link3.urdf.xacro
+++ b/bhand_description/xacro/bhand_link3.urdf.xacro
@@ -59,10 +59,9 @@
        <transmission name="bhand_${joint}_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="bhand_${joint}">
-                       <hardwareInterface>PositionJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                </joint>
                <actuator name="bhand_${joint}_actuator">
-                       <hardwareInterface>PositionJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro
index 9f4d80a..a73bca6 100644 (file)
--- a/wam_description/xacro/wam_j1.urdf.xacro
+++ b/wam_description/xacro/wam_j1.urdf.xacro
@@ -63,10 +63,9 @@
        <transmission name="j1_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_1">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j1_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>42.0</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro
index e4d3998..77855b1 100644 (file)
--- a/wam_description/xacro/wam_j2.urdf.xacro
+++ b/wam_description/xacro/wam_j2.urdf.xacro
@@ -61,10 +61,9 @@
        <transmission name="j2_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_2">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j2_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>28.25</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 4b2f2bf..1991fa9 100644 (file)
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -70,10 +70,9 @@
        <transmission name="j3_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_3">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j3_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>28.25</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro
index c8a6387..7bec276 100644 (file)
--- a/wam_description/xacro/wam_j4.urdf.xacro
+++ b/wam_description/xacro/wam_j4.urdf.xacro
@@ -71,10 +71,9 @@
        <transmission name="j4_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_4">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardwaware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j4_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j5.urdf.xacro b/wam_description/xacro/wam_j5.urdf.xacro
index 6e422f8..f33faef 100644 (file)
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -60,10 +60,9 @@
        <transmission name="j5_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_5">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j5_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>9.48</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro
index d444c02..96a3de3 100644 (file)
--- a/wam_description/xacro/wam_j6.urdf.xacro
+++ b/wam_description/xacro/wam_j6.urdf.xacro
@@ -60,10 +60,9 @@
        <transmission name="j6_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_6">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j6_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>9.48</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro
index 83aa873..7584505 100644 (file)
--- a/wam_description/xacro/wam_j7.urdf.xacro
+++ b/wam_description/xacro/wam_j7.urdf.xacro
@@ -58,10 +58,9 @@
        <transmission name="j7_transmission">
                <type>transmission_interface/SimpleTransmission</type>
                <joint name="wam_joint_7">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
+                       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                </joint>
                <actuator name="j7_motor">
-                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>14.93</mechanicalReduction>
                </actuator>
        </transmission>