Renamed ufrgs_bhand_description to bhand_description.

diff --git a/ufrgs_bhand_description/CMakeLists.txt b/bhand_description/CMakeLists.txt
similarity index 95%
rename from ufrgs_bhand_description/CMakeLists.txt
rename to bhand_description/CMakeLists.txt
index b5575a6..3e0344e 100644 (file)
--- a/ufrgs_bhand_description/CMakeLists.txt
+++ b/bhand_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(ufrgs_bhand_description)
+project(bhand_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -100,7 +100,7 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES ufrgs_bhand_description
+#  LIBRARIES bhand_description
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -118,7 +118,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/ufrgs_bhand_description.cpp
+#   src/${PROJECT_NAME}/bhand_description.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -129,7 +129,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/ufrgs_bhand_description_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/bhand_description_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -186,7 +186,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ufrgs_bhand_description.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_bhand_description.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

diff --git a/ufrgs_bhand_description/launch/bhand.launch b/bhand_description/launch/bhand.launch
similarity index 52%
rename from ufrgs_bhand_description/launch/bhand.launch
rename to bhand_description/launch/bhand.launch
index 5d4f5b1..fcdfa2e 100644 (file)
--- a/ufrgs_bhand_description/launch/bhand.launch
+++ b/bhand_description/launch/bhand.launch
@@ -1,6 +1,6 @@
 <launch>
        <arg name="world" default="false"/>
 
-       <param unless="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find ufrgs_bhand_description)/xacro/bhand.urdf.xacro'" />
-       <param if="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find ufrgs_bhand_description)/xacro/bhand0.urdf.xacro'" />
+       <param unless="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find bhand_description)/xacro/bhand.urdf.xacro'" />
+       <param if="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find bhand_description)/xacro/bhand0.urdf.xacro'" />
 </launch>

diff --git a/ufrgs_bhand_description/launch/display.launch b/bhand_description/launch/display.launch
similarity index 60%
rename from ufrgs_bhand_description/launch/display.launch
rename to bhand_description/launch/display.launch
index 95f1f44..ee459a4 100644 (file)
--- a/ufrgs_bhand_description/launch/display.launch
+++ b/bhand_description/launch/display.launch
@@ -1,11 +1,11 @@
 <launch>
        <arg name="use_gui" default="true"/>
 
-       <include file="$(find ufrgs_bhand_description)/launch/bhand.launch" />
+       <include file="$(find bhand_description)/launch/bhand.launch" />
 
        <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=true" />
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
-       <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ufrgs_bhand_description)/rviz/urdf.rviz" required="true"/>
+       <node name="rviz" pkg="rviz" type="rviz" args="-d $(find bhand_description)/rviz/urdf.rviz" required="true"/>
 </launch>

diff --git a/ufrgs_bhand_description/launch/gazebo.launch b/bhand_description/launch/gazebo.launch
similarity index 90%
rename from ufrgs_bhand_description/launch/gazebo.launch
rename to bhand_description/launch/gazebo.launch
index 391e1d3..9216831 100644 (file)
--- a/ufrgs_bhand_description/launch/gazebo.launch
+++ b/bhand_description/launch/gazebo.launch
@@ -11,7 +11,7 @@
                <arg name="world_name" value="worlds/empty_sky.world" />
        </include>
 
-       <include file="$(find ufrgs_bhand_description)/launch/bhand.launch" >
+       <include file="$(find bhand_description)/launch/bhand.launch" >
                <arg name="world" value="$(arg world)" />
        </include>
 

diff --git a/ufrgs_bhand_description/meshes/bh_base.stl b/bhand_description/meshes/bh_base.stl
similarity index 100%
rename from ufrgs_bhand_description/meshes/bh_base.stl
rename to bhand_description/meshes/bh_base.stl

diff --git a/ufrgs_bhand_description/meshes/bh_link1.stl b/bhand_description/meshes/bh_link1.stl
similarity index 100%
rename from ufrgs_bhand_description/meshes/bh_link1.stl
rename to bhand_description/meshes/bh_link1.stl

diff --git a/ufrgs_bhand_description/meshes/bh_link2.stl b/bhand_description/meshes/bh_link2.stl
similarity index 100%
rename from ufrgs_bhand_description/meshes/bh_link2.stl
rename to bhand_description/meshes/bh_link2.stl

diff --git a/ufrgs_bhand_description/meshes/bh_link3.stl b/bhand_description/meshes/bh_link3.stl
similarity index 100%
rename from ufrgs_bhand_description/meshes/bh_link3.stl
rename to bhand_description/meshes/bh_link3.stl

diff --git a/ufrgs_bhand_description/package.xml b/bhand_description/package.xml
similarity index 92%
rename from ufrgs_bhand_description/package.xml
rename to bhand_description/package.xml
index 8a12c0c..2afaf38 100644 (file)
--- a/ufrgs_bhand_description/package.xml
+++ b/bhand_description/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>ufrgs_bhand_description</name>
+  <name>bhand_description</name>
   <version>2.0.0</version>
-  <description><p>The ufrgs_bhand_description package</p>
+  <description><p>The bhand_description package</p>
   
        <p>This package contains xacro files for the Barrett Hand gripper.
        It is based on the iri_wam_description package developed by the IRI
@@ -26,7 +26,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/ufrgs_bhand_description</url> -->
+  <!-- <url type="website">http://wiki.ros.org/bhand_description</url> -->
   <url type="website">http://www.ece.ufrgs.br/~fetter/ufrgs_wam</url>
   <url type="website">http://wiki.ros.org/iri_bhand_description</url>
 

diff --git a/ufrgs_bhand_description/rviz/urdf.rviz b/bhand_description/rviz/urdf.rviz
similarity index 100%
rename from ufrgs_bhand_description/rviz/urdf.rviz
rename to bhand_description/rviz/urdf.rviz

diff --git a/ufrgs_bhand_description/xacro/bhand.urdf.xacro b/bhand_description/xacro/bhand.urdf.xacro
similarity index 87%
rename from ufrgs_bhand_description/xacro/bhand.urdf.xacro
rename to bhand_description/xacro/bhand.urdf.xacro
index 6194489..adfe0dd 100644 (file)
--- a/ufrgs_bhand_description/xacro/bhand.urdf.xacro
+++ b/bhand_description/xacro/bhand.urdf.xacro
@@ -3,10 +3,10 @@
 
   <xacro:property name="M_PI" value="3.1415926535897931" />
   
-  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_base.urdf.xacro" />
-  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_link1.urdf.xacro" />
-  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_link2.urdf.xacro" />
-  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand_link3.urdf.xacro" />
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_base.urdf.xacro" />
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_link1.urdf.xacro" />
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_link2.urdf.xacro" />
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_link3.urdf.xacro" />
 
   <link name="bhand_origin"/>
 

diff --git a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro b/bhand_description/xacro/bhand0.urdf.xacro
similarity index 76%
rename from ufrgs_bhand_description/xacro/bhand0.urdf.xacro
rename to bhand_description/xacro/bhand0.urdf.xacro
index 703cd4e..4fbb1df 100644 (file)
--- a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro
+++ b/bhand_description/xacro/bhand0.urdf.xacro
@@ -3,7 +3,7 @@
 
        <link name="world" />
 
-       <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand.urdf.xacro" />
+       <xacro:include filename="$(find bhand_description)/xacro/bhand.urdf.xacro" />
 
        <joint name="bhand_origin" type="fixed">
                <parent link="world"/>

diff --git a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro b/bhand_description/xacro/bhand_base.urdf.xacro
similarity index 90%
rename from ufrgs_bhand_description/xacro/bhand_base.urdf.xacro
rename to bhand_description/xacro/bhand_base.urdf.xacro
index b1f3068..46d44f7 100644 (file)
--- a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro
+++ b/bhand_description/xacro/bhand_base.urdf.xacro
@@ -21,7 +21,7 @@
                <visual>
                        <origin rpy="0 0 ${-M_PI/2}" xyz="0 0 -0.06"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_base.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_base.stl" />
                        </geometry>
                        <material name="Blue">
                                <color rgba="0.0 0.0 0.5 1.0"/>
@@ -30,7 +30,7 @@
                <collision>
                        <origin rpy="0 0 ${-M_PI/2}" xyz="0 0 -0.06"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_base.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_base.stl" />
                        </geometry>
                        <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
                </collision>

diff --git a/ufrgs_bhand_description/xacro/bhand_link1.urdf.xacro b/bhand_description/xacro/bhand_link1.urdf.xacro
similarity index 92%
rename from ufrgs_bhand_description/xacro/bhand_link1.urdf.xacro
rename to bhand_description/xacro/bhand_link1.urdf.xacro
index cdf4d01..9354a1b 100644 (file)
--- a/ufrgs_bhand_description/xacro/bhand_link1.urdf.xacro
+++ b/bhand_description/xacro/bhand_link1.urdf.xacro
@@ -20,7 +20,7 @@
                <visual>
                        <origin rpy="0 0 ${M_PI/2}" xyz="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
                        </geometry>
                        <material name="Grey">
                                <color rgba="0.5 0.5 0.5 1.0"/>
@@ -29,7 +29,7 @@
                <collision>
                        <origin rpy="0 0 ${M_PI/2}" xyz="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_link1.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
                        </geometry>
                        <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
                </collision>

diff --git a/ufrgs_bhand_description/xacro/bhand_link2.urdf.xacro b/bhand_description/xacro/bhand_link2.urdf.xacro
similarity index 92%
rename from ufrgs_bhand_description/xacro/bhand_link2.urdf.xacro
rename to bhand_description/xacro/bhand_link2.urdf.xacro
index 0a7bd35..7b61510 100644 (file)
--- a/ufrgs_bhand_description/xacro/bhand_link2.urdf.xacro
+++ b/bhand_description/xacro/bhand_link2.urdf.xacro
@@ -18,7 +18,7 @@
                <visual>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
                        </geometry>
                        <material name="Grey">
                                <color rgba="0.5 0.5 0.5 1.0"/>
@@ -27,7 +27,7 @@
                <collision>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_link2.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
                        </geometry>
                        <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
                </collision>

diff --git a/ufrgs_bhand_description/xacro/bhand_link3.urdf.xacro b/bhand_description/xacro/bhand_link3.urdf.xacro
similarity index 93%
rename from ufrgs_bhand_description/xacro/bhand_link3.urdf.xacro
rename to bhand_description/xacro/bhand_link3.urdf.xacro
index 581241a..14f2942 100644 (file)
--- a/ufrgs_bhand_description/xacro/bhand_link3.urdf.xacro
+++ b/bhand_description/xacro/bhand_link3.urdf.xacro
@@ -18,7 +18,7 @@
                <visual>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
                        </geometry>
                        <material name="Grey">
                                <color rgba="0.5 0.5 0.5 1.0"/>
@@ -27,7 +27,7 @@
                <collision>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://ufrgs_bhand_description/meshes/bh_link3.stl" />
+                               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
                        </geometry>
                        <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
                </collision>

diff --git a/wam_description/xacro/wam_bhand.urdf.xacro b/wam_description/xacro/wam_bhand.urdf.xacro
index c5cdf58..db1f97e 100644 (file)
--- a/wam_description/xacro/wam_bhand.urdf.xacro
+++ b/wam_description/xacro/wam_bhand.urdf.xacro
@@ -5,7 +5,7 @@
   
   <xacro:include filename="$(find wam_description)/xacro/wam.urdf.xacro" />
 
-  <xacro:include filename="$(find ufrgs_bhand_description)/xacro/bhand.urdf.xacro" />
+  <xacro:include filename="$(find bhand_description)/xacro/bhand.urdf.xacro" />
 
        <joint name="wam_tool_plate_bhand_joint" type="fixed">
                <parent link="wam_tool_plate"/>