From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 18 May 2018 15:15:44 +0000 (-0300)
Subject: Changed URDF to support Effort and Voltage hardware interfaces.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=17d7473d9a26e38051f673dbc505461aa88d9e99;p=q2d.git

Changed URDF to support Effort and Voltage hardware interfaces.
---

diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index 7915de2..5b542c5 100644
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -173,6 +173,7 @@
 	<transmission name="shoulder_active_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="shoulder_active_joint">
+			<hardwareInterface>VoltageJointInterface</hardwareInterface>
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="shoulder_motor">
@@ -183,6 +184,7 @@
 	<transmission name="elbow_active_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="elbow_active_joint">
+			<hardwareInterface>VoltageJointInterface</hardwareInterface>
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="elbow_motor">