From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 12 Dec 2018 11:10:15 +0000 (-0200)
Subject: Fix deprecated syntax in <hardwareInterface> tag.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=6227436131aeb48a200ac234487c0f833cb4a72e;p=ufrgs_wam.git

Fix deprecated syntax in <hardwareInterface> tag.
---

diff --git a/bhand_description/xacro/bhand_link1.urdf.xacro b/bhand_description/xacro/bhand_link1.urdf.xacro
index 293b44b..76d0a7d 100644
--- a/bhand_description/xacro/bhand_link1.urdf.xacro
+++ b/bhand_description/xacro/bhand_link1.urdf.xacro
@@ -54,10 +54,9 @@
 	<transmission name="bhand_${joint}_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="bhand_${joint}">
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="bhand_${joint}_actuator">
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/bhand_description/xacro/bhand_link2.urdf.xacro b/bhand_description/xacro/bhand_link2.urdf.xacro
index 8b7ae93..0a90738 100644
--- a/bhand_description/xacro/bhand_link2.urdf.xacro
+++ b/bhand_description/xacro/bhand_link2.urdf.xacro
@@ -54,10 +54,9 @@
 	<transmission name="bhand_${joint}_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="bhand_${joint}">
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="bhand_${joint}_actuator">
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/bhand_description/xacro/bhand_link3.urdf.xacro b/bhand_description/xacro/bhand_link3.urdf.xacro
index 745bb6b..fa18bb3 100644
--- a/bhand_description/xacro/bhand_link3.urdf.xacro
+++ b/bhand_description/xacro/bhand_link3.urdf.xacro
@@ -59,10 +59,9 @@
 	<transmission name="bhand_${joint}_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="bhand_${joint}">
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="bhand_${joint}_actuator">
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro
index 9f4d80a..a73bca6 100644
--- a/wam_description/xacro/wam_j1.urdf.xacro
+++ b/wam_description/xacro/wam_j1.urdf.xacro
@@ -63,10 +63,9 @@
 	<transmission name="j1_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_1">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="j1_motor">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>42.0</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro
index e4d3998..77855b1 100644
--- a/wam_description/xacro/wam_j2.urdf.xacro
+++ b/wam_description/xacro/wam_j2.urdf.xacro
@@ -61,10 +61,9 @@
 	<transmission name="j2_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_2">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="j2_motor">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>28.25</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 4b2f2bf..1991fa9 100644
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -70,10 +70,9 @@
 	<transmission name="j3_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_3">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="j3_motor">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>28.25</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro
index c8a6387..7bec276 100644
--- a/wam_description/xacro/wam_j4.urdf.xacro
+++ b/wam_description/xacro/wam_j4.urdf.xacro
@@ -71,10 +71,9 @@
 	<transmission name="j4_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_4">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardwaware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<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 6e422f8..f33faef 100644
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -60,10 +60,9 @@
 	<transmission name="j5_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_5">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="j5_motor">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>9.48</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro
index d444c02..96a3de3 100644
--- a/wam_description/xacro/wam_j6.urdf.xacro
+++ b/wam_description/xacro/wam_j6.urdf.xacro
@@ -60,10 +60,9 @@
 	<transmission name="j6_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_6">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="j6_motor">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>9.48</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro
index 83aa873..7584505 100644
--- a/wam_description/xacro/wam_j7.urdf.xacro
+++ b/wam_description/xacro/wam_j7.urdf.xacro
@@ -58,10 +58,9 @@
 	<transmission name="j7_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="wam_joint_7">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="j7_motor">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>14.93</mechanicalReduction>
 		</actuator>
 	</transmission>