Remove namespace.

diff --git a/miitzhand_bringup/config/miitzhand.yaml b/miitzhand_bringup/config/miitzhand.yaml
index 2961601..0bfc297 100644 (file)
--- a/miitzhand_bringup/config/miitzhand.yaml
+++ b/miitzhand_bringup/config/miitzhand.yaml
@@ -1,5 +1,3 @@
-miitzhand: 
-
     joint_state_controller:
         type: joint_state_controller/JointStateController
         publish_rate: 1000

diff --git a/miitzhand_bringup/launch/gazebo.launch b/miitzhand_bringup/launch/gazebo.launch
index 5d857eb..2d54125 100644 (file)
--- a/miitzhand_bringup/launch/gazebo.launch
+++ b/miitzhand_bringup/launch/gazebo.launch
@@ -27,7 +27,7 @@
         <rosparam command="load" file="$(find miitzhand_bringup)/config/miitzhand.yaml" />
         
         <node name="controller_spawner" pkg="controller_manager" type="spawner"
-            respawn="false" output="screen" ns="/miitzhand"
+            respawn="false" output="screen"
             args="
             joint_state_controller
             thumb1_controller

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 33c2261..cb87b7e 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -867,7 +867,7 @@
 
 <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-       <robotNamespace>/miitzhand</robotNamespace>
+       <!--robotNamespace>/miitzhand</robotNamespace-->
        <controlPeriod>0.001</controlPeriod>
        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
     </plugin>