Alterações em miitzhand_bringup.

diff --git a/miitzhand_description/CMakeLists.txt b/miitzhand_description/CMakeLists.txt
index 48b5c00..6192161 100644 (file)
--- a/miitzhand_description/CMakeLists.txt
+++ b/miitzhand_description/CMakeLists.txt
@@ -11,8 +11,8 @@ find_package(catkin REQUIRED COMPONENTS
   urdf
   rviz
 )
-find_package(t2f_ros)
-find_package(robot_state_controller)
+find_package(tf2_ros)
+find_package(robot_state_publisher)
 
 
 ## System dependencies are found with CMake's conventions
@@ -106,7 +106,7 @@ find_package(robot_state_controller)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
    LIBRARIES ${PROJECT_NAME}
-   CATKIN_DEPENDS urdf t2f_ros rviz robot_state_controller
+   CATKIN_DEPENDS urdf tf2_ros rviz robot_state_publisher
 #  INCLUDE_DIRS include
 #  LIBRARIES gabrielquanser_controllers
 #  CATKIN_DEPENDS roscpp rospy

diff --git a/miitzhand_description/meshes/base_link.STL b/miitzhand_description/meshes/base_link.stl
similarity index 100%
rename from miitzhand_description/meshes/base_link.STL
rename to miitzhand_description/meshes/base_link.stl

diff --git a/miitzhand_description/meshes/index_l1.STL b/miitzhand_description/meshes/index_l1.stl
similarity index 100%
rename from miitzhand_description/meshes/index_l1.STL
rename to miitzhand_description/meshes/index_l1.stl

diff --git a/miitzhand_description/meshes/index_l2.STL b/miitzhand_description/meshes/index_l2.stl
similarity index 100%
rename from miitzhand_description/meshes/index_l2.STL
rename to miitzhand_description/meshes/index_l2.stl

diff --git a/miitzhand_description/meshes/index_l3.STL b/miitzhand_description/meshes/index_l3.stl
similarity index 100%
rename from miitzhand_description/meshes/index_l3.STL
rename to miitzhand_description/meshes/index_l3.stl

diff --git a/miitzhand_description/meshes/little_l1.STL b/miitzhand_description/meshes/little_l1.stl
similarity index 100%
rename from miitzhand_description/meshes/little_l1.STL
rename to miitzhand_description/meshes/little_l1.stl

diff --git a/miitzhand_description/meshes/little_l2.STL b/miitzhand_description/meshes/little_l2.stl
similarity index 100%
rename from miitzhand_description/meshes/little_l2.STL
rename to miitzhand_description/meshes/little_l2.stl

diff --git a/miitzhand_description/meshes/little_l3.STL b/miitzhand_description/meshes/little_l3.stl
similarity index 100%
rename from miitzhand_description/meshes/little_l3.STL
rename to miitzhand_description/meshes/little_l3.stl

diff --git a/miitzhand_description/meshes/middle_l1.STL b/miitzhand_description/meshes/middle_l1.stl
similarity index 100%
rename from miitzhand_description/meshes/middle_l1.STL
rename to miitzhand_description/meshes/middle_l1.stl

diff --git a/miitzhand_description/meshes/middle_l2.STL b/miitzhand_description/meshes/middle_l2.stl
similarity index 100%
rename from miitzhand_description/meshes/middle_l2.STL
rename to miitzhand_description/meshes/middle_l2.stl

diff --git a/miitzhand_description/meshes/middle_l3.STL b/miitzhand_description/meshes/middle_l3.stl
similarity index 100%
rename from miitzhand_description/meshes/middle_l3.STL
rename to miitzhand_description/meshes/middle_l3.stl

diff --git a/miitzhand_description/meshes/ring_l1.STL b/miitzhand_description/meshes/ring_l1.stl
similarity index 100%
rename from miitzhand_description/meshes/ring_l1.STL
rename to miitzhand_description/meshes/ring_l1.stl

diff --git a/miitzhand_description/meshes/ring_l2.STL b/miitzhand_description/meshes/ring_l2.stl
similarity index 100%
rename from miitzhand_description/meshes/ring_l2.STL
rename to miitzhand_description/meshes/ring_l2.stl

diff --git a/miitzhand_description/meshes/ring_l3.STL b/miitzhand_description/meshes/ring_l3.stl
similarity index 100%
rename from miitzhand_description/meshes/ring_l3.STL
rename to miitzhand_description/meshes/ring_l3.stl

diff --git a/miitzhand_description/meshes/thumb_l1.STL b/miitzhand_description/meshes/thumb_l1.stl
similarity index 100%
rename from miitzhand_description/meshes/thumb_l1.STL
rename to miitzhand_description/meshes/thumb_l1.stl

diff --git a/miitzhand_description/meshes/thumb_l2.STL b/miitzhand_description/meshes/thumb_l2.stl
similarity index 100%
rename from miitzhand_description/meshes/thumb_l2.STL
rename to miitzhand_description/meshes/thumb_l2.stl

diff --git a/miitzhand_description/meshes/thumb_l3.STL b/miitzhand_description/meshes/thumb_l3.stl
similarity index 100%
rename from miitzhand_description/meshes/thumb_l3.STL
rename to miitzhand_description/meshes/thumb_l3.stl

diff --git a/miitzhand_description/package.xml b/miitzhand_description/package.xml
index 891397d..a6699b5 100644 (file)
--- a/miitzhand_description/package.xml
+++ b/miitzhand_description/package.xml
@@ -19,14 +19,14 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>urdf</build_depend>
-  <build_depend>robot_state_controller</build_depend>
-  <build_depend>t2f_ros</build_depend>
+  <build_depend>robot_state_publisher</build_depend>
+  <build_depend>tf2_ros</build_depend>
   <build_depend>rviz</build_depend>
 
   <run_depend>urdf</run_depend>
-  <run_depend>robot_state_controller</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
   <run_depend>joint_state_controller</run_depend>
-  <run_depend>t2f_ros</run_depend>
+  <run_depend>tf2_ros</run_depend>
   <run_depend>rviz</run_depend>
 
 

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index feee073..ec517ae 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -30,7 +30,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/base_link.STL" />
+          filename="package://miitzhand_description/meshes/base_link.stl" />
       </geometry>
       <material
         name="">
@@ -44,7 +44,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/base_link.STL" />
+          filename="package://miitzhand_description/meshes/base_link.stl" />
       </geometry>
     </collision>
   </link>
@@ -74,7 +74,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/little_l1.STL" />
+          filename="package://miitzhand_description/meshes/little_l1.stl" />
       </geometry>
       <material
         name="">
@@ -88,7 +88,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/little_l1.STL" />
+          filename="package://miitzhand_description/meshes/little_l1.stl" />
       </geometry>
     </collision>
   </link>
@@ -132,7 +132,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/little_l2.STL" />
+          filename="package://miitzhand_description/meshes/little_l2.stl" />
       </geometry>
       <material
         name="">
@@ -146,7 +146,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/little_l2.STL" />
+          filename="package://miitzhand_description/meshes/little_l2.stl" />
       </geometry>
     </collision>
   </link>
@@ -191,7 +191,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/little_l3.STL" />
+          filename="package://miitzhand_description/meshes/little_l3.stl" />
       </geometry>
       <material
         name="">
@@ -205,7 +205,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/little_l3.STL" />
+          filename="package://miitzhand_description/meshes/little_l3.stl" />
       </geometry>
     </collision>
   </link>
@@ -250,7 +250,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/ring_l1.STL" />
+          filename="package://miitzhand_description/meshes/ring_l1.stl" />
       </geometry>
       <material
         name="">
@@ -264,7 +264,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/ring_l1.STL" />
+          filename="package://miitzhand_description/meshes/ring_l1.stl" />
       </geometry>
     </collision>
   </link>
@@ -308,7 +308,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/ring_l2.STL" />
+          filename="package://miitzhand_description/meshes/ring_l2.stl" />
       </geometry>
       <material
         name="">
@@ -322,7 +322,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/ring_l2.STL" />
+          filename="package://miitzhand_description/meshes/ring_l2.stl" />
       </geometry>
     </collision>
   </link>
@@ -367,7 +367,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/ring_l3.STL" />
+          filename="package://miitzhand_description/meshes/ring_l3.stl" />
       </geometry>
       <material
         name="">
@@ -381,7 +381,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/ring_l3.STL" />
+          filename="package://miitzhand_description/meshes/ring_l3.stl" />
       </geometry>
     </collision>
   </link>
@@ -426,7 +426,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/middle_l1.STL" />
+          filename="package://miitzhand_description/meshes/middle_l1.stl" />
       </geometry>
       <material
         name="">
@@ -440,7 +440,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/middle_l1.STL" />
+          filename="package://miitzhand_description/meshes/middle_l1.stl" />
       </geometry>
     </collision>
   </link>
@@ -484,7 +484,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/middle_l2.STL" />
+          filename="package://miitzhand_description/meshes/middle_l2.stl" />
       </geometry>
       <material
         name="">
@@ -498,7 +498,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/middle_l2.STL" />
+          filename="package://miitzhand_description/meshes/middle_l2.stl" />
       </geometry>
     </collision>
   </link>
@@ -543,7 +543,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/middle_l3.STL" />
+          filename="package://miitzhand_description/meshes/middle_l3.stl" />
       </geometry>
       <material
         name="">
@@ -557,7 +557,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/middle_l3.STL" />
+          filename="package://miitzhand_description/meshes/middle_l3.stl" />
       </geometry>
     </collision>
   </link>
@@ -602,7 +602,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/index_l1.STL" />
+          filename="package://miitzhand_description/meshes/index_l1.stl" />
       </geometry>
       <material
         name="">
@@ -616,7 +616,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/index_l1.STL" />
+          filename="package://miitzhand_description/meshes/index_l1.stl" />
       </geometry>
     </collision>
   </link>
@@ -660,7 +660,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/index_l2.STL" />
+          filename="package://miitzhand_description/meshes/index_l2.stl" />
       </geometry>
       <material
         name="">
@@ -674,7 +674,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/index_l2.STL" />
+          filename="package://miitzhand_description/meshes/index_l2.stl" />
       </geometry>
     </collision>
   </link>
@@ -719,7 +719,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/index_l3.STL" />
+          filename="package://miitzhand_description/meshes/index_l3.stl" />
       </geometry>
       <material
         name="">
@@ -733,7 +733,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/index_l3.STL" />
+          filename="package://miitzhand_description/meshes/index_l3.stl" />
       </geometry>
     </collision>
   </link>
@@ -778,7 +778,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/thumb_l1.STL" />
+          filename="package://miitzhand_description/meshes/thumb_l1.stl" />
       </geometry>
       <material
         name="">
@@ -792,7 +792,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/thumb_l1.STL" />
+          filename="package://miitzhand_description/meshes/thumb_l1.stl" />
       </geometry>
     </collision>
   </link>
@@ -836,7 +836,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/thumb_l2.STL" />
+          filename="package://miitzhand_description/meshes/thumb_l2.stl" />
       </geometry>
       <material
         name="">
@@ -850,7 +850,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/thumb_l2.STL" />
+          filename="package://miitzhand_description/meshes/thumb_l2.stl" />
       </geometry>
     </collision>
   </link>
@@ -894,7 +894,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/thumb_l3.STL" />
+          filename="package://miitzhand_description/meshes/thumb_l3.stl" />
       </geometry>
       <material
         name="">
@@ -908,7 +908,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand_description/meshes/thumb_l3.STL" />
+          filename="package://miitzhand_description/meshes/thumb_l3.stl" />
       </geometry>
     </collision>
   </link>