Change actuator names.

diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro
index 71aa24d..10aafbb 100644 (file)
--- a/wam_description/xacro/wam_j1.urdf.xacro
+++ b/wam_description/xacro/wam_j1.urdf.xacro
@@ -51,7 +51,8 @@
                <joint name="wam_joint_1">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j1">
+               <actuator name="j1_motor">
+                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro
index 00b111d..47871f9 100644 (file)
--- a/wam_description/xacro/wam_j2.urdf.xacro
+++ b/wam_description/xacro/wam_j2.urdf.xacro
@@ -48,7 +48,8 @@
                <joint name="wam_joint_2">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j2">
+               <actuator name="j2_motor">
+                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 1b5c308..7a37d4c 100644 (file)
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -48,7 +48,8 @@
                <joint name="wam_joint_3">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j3">
+               <actuator name="j3_motor">
+                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro
index e8c7c5c..3b81011 100644 (file)
--- a/wam_description/xacro/wam_j4.urdf.xacro
+++ b/wam_description/xacro/wam_j4.urdf.xacro
@@ -48,7 +48,8 @@
                <joint name="wam_joint_4">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j4">
+               <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 8e989e6..0c1a49a 100644 (file)
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -48,7 +48,8 @@
                <joint name="wam_joint_5">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j5">
+               <actuator name="j5_motor">
+                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro
index 7d121c3..87e5958 100644 (file)
--- a/wam_description/xacro/wam_j6.urdf.xacro
+++ b/wam_description/xacro/wam_j6.urdf.xacro
@@ -48,7 +48,8 @@
                <joint name="wam_joint_6">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j6">
+               <actuator name="j6_motor">
+                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>

diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro
index 972dee9..2695f23 100644 (file)
--- a/wam_description/xacro/wam_j7.urdf.xacro
+++ b/wam_description/xacro/wam_j7.urdf.xacro
@@ -48,7 +48,8 @@
                <joint name="wam_joint_7">
                        <hardwareInterface>EffortJointInterface</hardwareInterface>
                </joint>
-               <actuator name="j7">
+               <actuator name="j7_motor">
+                       <hardwareInterface>EffortJointInterface</hardwareInterface>
                        <mechanicalReduction>1</mechanicalReduction>
                </actuator>
        </transmission>