From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 28 Nov 2018 18:17:44 +0000 (-0200)
Subject: Initial Indigo commit.
X-Git-Tag: rosbook2015initial~3
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=a50df61a6e8ca7f68a5f8ebf8e2e8728efebed78;p=ufrgs_wam.git

Initial Indigo commit.
---

diff --git a/ufrgs_wam/package.xml b/ufrgs_wam/package.xml
index 84822fb..9606051 100644
--- a/ufrgs_wam/package.xml
+++ b/ufrgs_wam/package.xml
@@ -42,7 +42,10 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-
+  <run_depend>wam_description</run_depend>
+  <run_depend>wam_gazebo_ros_control</run_depend>
+  <run_depend>wam_controllers</run_depend>
+  
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- You can specify that this package is a metapackage here: -->
@@ -52,4 +55,4 @@
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/wam_controllers/CMakeLists.txt b/wam_controllers/CMakeLists.txt
index 47250cb..87c2c9e 100644
--- a/wam_controllers/CMakeLists.txt
+++ b/wam_controllers/CMakeLists.txt
@@ -4,11 +4,18 @@ project(wam_controllers)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+	controller_interface
+	control_msgs
+	urdf
+)
+find_package(cmake_modules REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Eigen REQUIRED)
+find_package(orocos_kdl REQUIRED)
+find_package(kdl_parser REQUIRED)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -78,10 +85,10 @@ find_package(Eigen REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES wam_controllers
-#  CATKIN_DEPENDS other_catkin_pkg
+   LIBRARIES ${PROJECT_NAME}
+   CATKIN_DEPENDS controller_interface control_msgs urdf
 #  DEPENDS system_lib
-   DEPENDS eigen
+   DEPENDS eigen orocos_kdl kdl_parser
 )
 
 ###########
@@ -108,9 +115,11 @@ add_library(wam_controllers
 # add_dependencies(wam_controllers_node wam_controllers_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(wam_controllers_node
-#   ${catkin_LIBRARIES}
-# )
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${orocos-kdl_LIBRARIES}
+  ${kdl_parser_LIBRARIES}
+)
 
 #############
 ## Install ##
@@ -127,18 +136,18 @@ add_library(wam_controllers
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS wam_controllers wam_controllers_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS ${PROJECT_NAME}
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
 #   PATTERN ".svn" EXCLUDE
-# )
+)
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES
diff --git a/wam_controllers/README b/wam_controllers/README
index b29cdbe..861d535 100644
--- a/wam_controllers/README
+++ b/wam_controllers/README
@@ -2,7 +2,7 @@ To publish reference:
 
 rostopic pub /wam/computed_torque_controller/command trajectory_msgs/JointTrajectoryPoint "[0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0]"
 
-Arguments are positions, velocities, accelerations, time from start in
+Arguments are positions, velocities, accelerations, effort, time from start in
 seconds and nanoseconds.
 
 Set starting position:
diff --git a/wam_controllers/config/computed_torque_control.yaml b/wam_controllers/config/computed_torque_control.yaml
index a1e546f..4343844 100644
--- a/wam_controllers/config/computed_torque_control.yaml
+++ b/wam_controllers/config/computed_torque_control.yaml
@@ -1,5 +1,4 @@
 wam:
-
     joint_state_controller:
       type: joint_state_controller/JointStateController
       publish_rate: 100
diff --git a/wam_controllers/launch/computed_torque.launch b/wam_controllers/launch/computed_torque.launch
index 40d04a1..bec4906 100644
--- a/wam_controllers/launch/computed_torque.launch
+++ b/wam_controllers/launch/computed_torque.launch
@@ -13,5 +13,6 @@
 		args="joint_state_controller computed_torque_controller"/>
 
 	<node name="robot_state_publisher" pkg="robot_state_publisher"
-		type="state_publisher" />
+		type="state_publisher"
+		ns="/wam" />
 </launch>
diff --git a/wam_controllers/launch/computed_torque_table.launch b/wam_controllers/launch/computed_torque_table.launch
index 3975bd5..8036b3b 100644
--- a/wam_controllers/launch/computed_torque_table.launch
+++ b/wam_controllers/launch/computed_torque_table.launch
@@ -10,5 +10,7 @@
 	<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
 		output="screen" ns="/wam" args="joint_state_controller computed_torque_controller"/>
 
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher"
+		type="state_publisher"
+		ns="/wam" />
 </launch>
diff --git a/wam_controllers/package.xml b/wam_controllers/package.xml
index 991f3a2..118d020 100644
--- a/wam_controllers/package.xml
+++ b/wam_controllers/package.xml
@@ -42,14 +42,22 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   
-  <build_depend>wam_control_gazebo</build_depend>
+  <build_depend>wam_gazebo_ros_control</build_depend>
   <build_depend>controller_interface</build_depend>
   <build_depend>orocos_kdl</build_depend>
   <build_depend>kdl_parser</build_depend>
   <build_depend>trajectory_msgs</build_depend>
+  <build_depend>control_msgs</build_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>cmake_modules</build_depend>
   
-
+  <run_depend>cmake_modules</run_depend>
+  <run_depend>controller_interface</run_depend>
+  <run_depend>controller_manager</run_depend>
+  <run_depend>control_msgs</run_depend>
   <run_depend> joint_state_controller</run_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>kdl_parser</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/wam_controllers/scripts/move_home.sh b/wam_controllers/scripts/move_home.sh
new file mode 100755
index 0000000..31eaaef
--- /dev/null
+++ b/wam_controllers/scripts/move_home.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+rostopic pub /wam/computed_torque_controller/command \
+trajectory_msgs/JointTrajectoryPoint \
+"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0]" "-1"
diff --git a/wam_controllers/scripts/move_initial.sh b/wam_controllers/scripts/move_initial.sh
new file mode 100755
index 0000000..48f1231
--- /dev/null
+++ b/wam_controllers/scripts/move_initial.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+rostopic pub /wam/computed_torque_controller/command \
+trajectory_msgs/JointTrajectoryPoint \
+"[0.0,0.75,0.0,1.5,0.0,0.9,0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0]" -1
diff --git a/wam_controllers/scripts/move_zero.sh b/wam_controllers/scripts/move_zero.sh
index ec582ab..80b1c63 100755
--- a/wam_controllers/scripts/move_zero.sh
+++ b/wam_controllers/scripts/move_zero.sh
@@ -4,4 +4,6 @@ rostopic pub /wam/computed_torque_controller/command \
 trajectory_msgs/JointTrajectoryPoint \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0]" -1
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0]" -1
diff --git a/wam_controllers/scripts/set_home.sh b/wam_controllers/scripts/set_home.sh
index 62f7e9c..1ff2f52 100755
--- a/wam_controllers/scripts/set_home.sh
+++ b/wam_controllers/scripts/set_home.sh
@@ -1,12 +1,13 @@
 #!/bin/bash
 
 rosservice call /gazebo/set_model_configuration wam joint \
-['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
-'wam_joint_5','wam_joint_6','wam_joint_7'] \
-[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]
+"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4','wam_joint_5','wam_joint_6','wam_joint_7']" \
+"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]"
 
 rostopic pub /wam/computed_torque_controller/command \
 trajectory_msgs/JointTrajectoryPoint \
 "[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0]" -1
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0]" "-1"
diff --git a/wam_controllers/scripts/set_initial.sh b/wam_controllers/scripts/set_initial.sh
index d1099b3..94556b1 100755
--- a/wam_controllers/scripts/set_initial.sh
+++ b/wam_controllers/scripts/set_initial.sh
@@ -1,12 +1,14 @@
 #!/bin/bash
 
 rosservice call /gazebo/set_model_configuration wam joint \
-['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
-'wam_joint_5','wam_joint_6','wam_joint_7'] \
-[0.0,0.75,0.0,1.5,0.0,0.9,0.0]
+"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
+'wam_joint_5','wam_joint_6','wam_joint_7']" \
+"[0.0,0.75,0.0,1.5,0.0,0.9,0.0]"
 
 rostopic pub /wam/computed_torque_controller/command \
 trajectory_msgs/JointTrajectoryPoint \
 "[0.0,0.75,0.0,1.5,0.0,0.9,0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0]" -1
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0]" -1
diff --git a/wam_controllers/src/computed_torque_controller.cpp b/wam_controllers/src/computed_torque_controller.cpp
index 86f24f3..f2a4482 100644
--- a/wam_controllers/src/computed_torque_controller.cpp
+++ b/wam_controllers/src/computed_torque_controller.cpp
@@ -5,7 +5,7 @@
 #include <kdl_parser/kdl_parser.hpp>
 #include <kdl/chainidsolver_recursive_newton_euler.hpp>
 
-#define Ts 5.0
+#define Ts 0.5
 #define Xi 1.0
 #define Wn (4.0/Ts/Xi)
 
@@ -152,5 +152,4 @@ namespace wam_controllers
 	}
 }
 
-PLUGINLIB_DECLARE_CLASS(wam_controllers,ComputedTorqueController,
-        wam_controllers::ComputedTorqueController,controller_interface::ControllerBase)
+PLUGINLIB_EXPORT_CLASS(wam_controllers::ComputedTorqueController,controller_interface::ControllerBase)
diff --git a/wam_description/CMakeLists.txt b/wam_description/CMakeLists.txt
index a89d6ea..41e046d 100644
--- a/wam_description/CMakeLists.txt
+++ b/wam_description/CMakeLists.txt
@@ -142,6 +142,15 @@ catkin_package(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+install(DIRECTORY launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY meshes
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY xacro
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############
diff --git a/wam_description/launch/wam.launch b/wam_description/launch/wam.launch
index e74ec50..b783aa0 100644
--- a/wam_description/launch/wam.launch
+++ b/wam_description/launch/wam.launch
@@ -1,4 +1,4 @@
 <launch>
 	<param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam.urdf.xacro'" />
-	<node name="spawn_wam_object" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
+	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
 </launch>
diff --git a/wam_description/launch/wam_sim.launch b/wam_description/launch/wam_sim.launch
index 8a08305..4215fb2 100644
--- a/wam_description/launch/wam_sim.launch
+++ b/wam_description/launch/wam_sim.launch
@@ -4,6 +4,7 @@
 	<!-- Start Gazebo -->
 	<include file="$(find gazebo_ros)/launch/empty_world.launch">
 		<arg name="paused" value="$(arg paused)"/>
+		<arg name="world_name" value="worlds/empty_sky.world" />
 	</include>
 
 	<include file="$(find wam_description)/launch/wam.launch"/>
diff --git a/wam_description/launch/wam_table.launch b/wam_description/launch/wam_table.launch
index fb882a6..1ee4e59 100644
--- a/wam_description/launch/wam_table.launch
+++ b/wam_description/launch/wam_table.launch
@@ -1,4 +1,4 @@
 <launch>
 	<param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_table.urdf.xacro'" />
-	<node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
+	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
 </launch>
diff --git a/wam_description/launch/wam_table_sim.launch b/wam_description/launch/wam_table_sim.launch
index 05648af..74a017b 100644
--- a/wam_description/launch/wam_table_sim.launch
+++ b/wam_description/launch/wam_table_sim.launch
@@ -3,8 +3,9 @@
 	<arg name="paused" default="false"/>
 
 	<!-- Start Gazebo -->
-	<include file="$(find gazebo_worlds)/launch/empty_world.launch">
+	<include file="$(find gazebo_ros)/launch/empty_world.launch">
 		<arg name="paused" value="$(arg paused)"/>
+		<arg name="world_name" value="worlds/empty_sky.world" />
 	</include>
 
 	<include file="$(find wam_description)/launch/wam_table.launch"/>
diff --git a/wam_description/xacro/table.urdf.xacro b/wam_description/xacro/table.urdf.xacro
new file mode 100644
index 0000000..37934a1
--- /dev/null
+++ b/wam_description/xacro/table.urdf.xacro
@@ -0,0 +1,193 @@
+<?xml version="1.0"?>
+
+<robot name="table" xmlns:xacro="http://ros.org/wiki/xacro" >
+
+  <property name="table_height" value="0.55" />
+  <property name="table_width" value="1.0" />
+  <property name="table_depth" value="2.0" />
+  <property name="leg_radius" value="0.02" />
+  <property name="table_x" value="0.98" />
+  <property name="table_y" value="0.0" />
+  <property name="table_z" value="0.0" />
+
+  <property name="table_top_thickness" value="0.05"/>
+
+  <property name="M_PI" value="3.1415926535897931" />
+
+
+  <!-- tabletop height is .55+.01+.025=.585 -->
+  <link name="table_top_link">
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="${table_x} ${table_y} ${table_z+table_height-table_top_thickness/2}" />
+      <inertia ixx="1" ixy="0"  ixz="0"
+               iyy="1" iyz="0"
+               izz="1" />
+    </inertial> 
+    <visual>
+      <origin xyz="${table_x} ${table_y} ${table_z+table_height-table_top_thickness/2}" />
+      <geometry>
+        <box size="${table_width} ${table_depth} ${table_top_thickness}" />
+      </geometry>
+    </visual> 
+    <collision>
+      <origin xyz="${table_x} ${table_y} ${table_z+table_height-table_top_thickness/2}" />
+      <geometry>
+        <box size="${table_width} ${table_depth} ${table_top_thickness}" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="table_top_link">
+    <material>Gazebo/Wood</material>
+    <mu1>50.0</mu1>
+    <mu2>50.0</mu2>
+    <kp>1000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+
+  <joint name="leg1_joint" type="fixed" >
+    <parent link="table_top_link" />
+    <origin xyz="${table_x+table_width/2} ${table_y+table_depth/2} ${table_z+table_height}" rpy="0 0 0" />
+    <child link="leg1_link" />
+  </joint> 
+  <link name="leg1_link">
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="0 0 ${-table_height/2}" />
+      <inertia ixx="0.1" ixy="0"  ixz="0"
+               iyy="0.1" iyz="0"
+               izz="0.01" />
+    </inertial> 
+    <visual>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </visual> 
+    <collision>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="leg1_link">
+    <material>Gazebo/Red</material>
+    <mu1>1000.0</mu1>
+    <mu2>1000.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <!-- <selfCollide>true</selfCollide> -->
+  </gazebo>
+
+  <joint name="leg2_joint" type="fixed" >
+    <parent link="table_top_link" />
+    <origin xyz="${table_x-table_width/2} ${table_y+table_depth/2} ${table_z+table_height}" rpy="0 0 0" />
+    <child link="leg2_link" />
+  </joint> 
+  <link name="leg2_link">
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="0 0 ${-table_height/2}" />
+      <inertia ixx="0.1" ixy="0"  ixz="0"
+               iyy="0.1" iyz="0"
+               izz="0.01" />
+    </inertial> 
+    <visual>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </visual> 
+    <collision>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="leg2_link">
+    <material>Gazebo/Red</material>
+    <mu1>1000.0</mu1>
+    <mu2>1000.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <!-- <selfCollide>true</selfCollide> -->
+  </gazebo>
+
+  <joint name="leg3_joint" type="fixed" >
+    <parent link="table_top_link" />
+    <origin xyz="${table_x+table_width/2} ${table_y-table_depth/2} ${table_z+table_height}" rpy="0 0 0" />
+    <child link="leg3_link" />
+  </joint> 
+  <link name="leg3_link">
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="0 0 ${-table_height/2}" />
+      <inertia ixx="0.1" ixy="0"  ixz="0"
+               iyy="0.1" iyz="0"
+               izz="0.01" />
+    </inertial> 
+    <visual>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </visual> 
+    <collision>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="leg3_link">
+    <material>Gazebo/Red</material>
+    <mu1>1000.0</mu1>
+    <mu2>1000.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <!-- <selfCollide>true</selfCollide> -->
+  </gazebo>
+
+  <joint name="leg4_joint" type="fixed" >
+    <parent link="table_top_link" />
+    <origin xyz="${table_x-table_width/2} ${table_y-table_depth/2} ${table_z+table_height}" rpy="0 0 0" />
+    <child link="leg4_link" />
+  </joint> 
+  <link name="leg4_link">
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="0 0 ${-table_height/2}" />
+      <inertia ixx="0.1" ixy="0"  ixz="0"
+               iyy="0.1" iyz="0"
+               izz="0.01" />
+    </inertial> 
+    <visual>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </visual> 
+    <collision>
+      <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <cylinder radius="${leg_radius}" length="${table_height}" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="leg4_link">
+    <material>Gazebo/Red</material>
+    <mu1>1000.0</mu1>
+    <mu2>1000.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <!-- <selfCollide>true</selfCollide> -->
+  </gazebo>
+  <gazebo>
+    <!-- <static>true</static> -->
+    <canonicalBody>table_top_link</canonicalBody>
+  </gazebo>
+
+
+</robot>
diff --git a/wam_description/xacro/wam.urdf.xacro b/wam_description/xacro/wam.urdf.xacro
index ed28763..c0db1f6 100644
--- a/wam_description/xacro/wam.urdf.xacro
+++ b/wam_description/xacro/wam.urdf.xacro
@@ -1,10 +1,7 @@
 <?xml version="1.0"?>
-<robot name="wam"
-  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-  xmlns:xacro="http://ros.org/wiki/xacro">
-  
+
+<robot name="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+
   <xacro:include filename="$(find wam_description)/xacro/wam_base.urdf.xacro" />
   <xacro:include filename="$(find wam_description)/xacro/wam_j1.urdf.xacro" />
   <xacro:include filename="$(find wam_description)/xacro/wam_j2.urdf.xacro" />
@@ -36,10 +33,17 @@
   </xacro:wam_tool_plate>
 
   <gazebo>
-    <plugin name="ros_control" filename="libgazebo_ros_control_plugin.so">
-      <ns>wam</ns>
-      <robotSimType>wam_control_gazebo/RobotSimWam</robotSimType>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
+      <robotNamespace>/wam</robotNamespace>
+
+      <!-- Custom plugin -->
+      <!-- robotSimType>wam_gazebo_ros_control/WamRobotHWSim</robotSimType -->
+
+      <!-- Default plugin -->
+      <!-- robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType -->
+
       <controlPeriod>0.001</controlPeriod>
     </plugin>
   </gazebo>
+
 </robot>
diff --git a/wam_description/xacro/wam_base.urdf.xacro b/wam_description/xacro/wam_base.urdf.xacro
index 3091252..8acac63 100644
--- a/wam_description/xacro/wam_base.urdf.xacro
+++ b/wam_description/xacro/wam_base.urdf.xacro
@@ -31,8 +31,8 @@
 	</link>
 
 	<gazebo reference="wam_link_base">
-		<selfCollide>true</selfCollide>
-		<material>Gazebo/Grey</material>
+		<!-- <selfCollide>true</selfCollide> -->
+		<material>Gazebo/White</material>
 	</gazebo>
 
 
diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro
index 556b2b7..71aa24d 100644
--- a/wam_description/xacro/wam_j1.urdf.xacro
+++ b/wam_description/xacro/wam_j1.urdf.xacro
@@ -24,12 +24,14 @@
 			<geometry name="wam_j1_collision">
 				<mesh filename="package://wam_description/meshes/wam1.stl" scale="1.0 1.0 1.0"/>
 			</geometry>
+			<!--
 			<contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+			-->
 		</collision>
 	</link>
 
 	<gazebo reference="wam_link_1">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -40,15 +42,18 @@
 		<axis xyz="0 0 1"/>
 		<limit effort="30" lower="-2.6" upper="2.6" velocity="2.0"/>
 		<!-- <safety_controller k_velocity="0.5"/> -->
-	        <joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.9" friction="${3.0/7}"/>
 	</joint>
 
-	<transmission name="j1_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j1"/>
-		<joint name="wam_joint_1"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j1_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_1">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j1">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro
index 0e67dcc..00b111d 100644
--- a/wam_description/xacro/wam_j2.urdf.xacro
+++ b/wam_description/xacro/wam_j2.urdf.xacro
@@ -29,7 +29,7 @@
 	</link>
 
 	<gazebo reference="wam_link_2">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -39,15 +39,18 @@
 		<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 1 0"/>
 		<limit effort="30" lower="-2.0" upper="2.0" velocity="2.0"/>
-		<joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.25" friction="${3.0/7}"/>
 	</joint>
 
-	<transmission name="j2_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j2"/>
-		<joint name="wam_joint_2"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j2_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_2">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j2">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 40973a7..1b5c308 100644
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -29,7 +29,7 @@
 	</link>
 
 	<gazebo reference="wam_link_3">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -39,15 +39,18 @@
 		<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="30" lower="-2.8" upper="2.8" velocity="2.0"/>
-		<joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.75" friction="${3.0/7}"/>
 	</joint>
 
-	<transmission name="j3_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j3"/>
-		<joint name="wam_joint_3"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j3_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_3">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j3">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro
index 3a8c5ec..e8c7c5c 100644
--- a/wam_description/xacro/wam_j4.urdf.xacro
+++ b/wam_description/xacro/wam_j4.urdf.xacro
@@ -29,7 +29,7 @@
 	</link>
 
 	<gazebo reference="wam_link_4">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -39,15 +39,18 @@
 		<origin rpy="-1.57079632679 0 0" xyz="0.045 0.0 0.55"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="35" lower="-0.9" upper="3.1" velocity="2.0"/>
-		<joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.4" friction="${3.0/7}"/>
 	</joint>
 
-	<transmission name="j4_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j4"/>
-		<joint name="wam_joint_4"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j4_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_4">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j4">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_j5.urdf.xacro b/wam_description/xacro/wam_j5.urdf.xacro
index 8a31b40..8e989e6 100644
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -29,7 +29,7 @@
 	</link>
 
 	<gazebo reference="wam_link_5">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -39,15 +39,18 @@
 		<origin rpy="1.57079632679 0 0" xyz="-0.045 -0.3 0.0"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="30" lower="-4.8" upper="1.3" velocity="2.0"/>
-		<joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.25" friction="${3.0/7}"/>
 	</joint>
 
-	<transmission name="j5_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j5"/>
-		<joint name="wam_joint_5"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j5_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_5">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j5">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro
index e40a5e1..7d121c3 100644
--- a/wam_description/xacro/wam_j6.urdf.xacro
+++ b/wam_description/xacro/wam_j6.urdf.xacro
@@ -29,7 +29,7 @@
 	</link>
 
 	<gazebo reference="wam_link_6">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -39,15 +39,18 @@
 		<origin rpy="-1.57079632679 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="30" lower="-1.6" upper="1.6" velocity="2.0"/>
-		<joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.05" friction="0.0"/>
 	</joint>
 
-	<transmission name="j6_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j6"/>
-		<joint name="wam_joint_6"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j6_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_6">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j6">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro
index 246a7a3..972dee9 100644
--- a/wam_description/xacro/wam_j7.urdf.xacro
+++ b/wam_description/xacro/wam_j7.urdf.xacro
@@ -29,7 +29,7 @@
 	</link>
 
 	<gazebo reference="wam_link_7">
-		<material>Gazebo/Grey</material>
+		<material>Gazebo/White</material>
 		<selfCollide>true</selfCollide>
 	</gazebo>
 
@@ -39,15 +39,18 @@
 		<origin rpy="1.57079632679 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="30" lower="-2.2" upper="2.2" velocity="2.0"/>
-		<joint_properties damping="100.0" friction="1000.0" />
-		<dynamics damping="1000"/>
+		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
+		<dynamics damping="0.05" friction="${3.0/7}"/>
 	</joint>
 
-	<transmission name="j7_transmission" type="pr2_mechanism_model/SimpleTransmission">
-		<actuator name="j7"/>
-		<joint name="wam_joint_7"/>
-		<mechanicalReduction>1</mechanicalReduction>
-		<motorTorqueConstant>1</motorTorqueConstant>
+	<transmission name="j7_transmission">
+		<type>transmission_interface/SimpleTransmission"</type>
+		<joint name="wam_joint_7">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="j7">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
 	</transmission>
 
   </xacro:macro>
diff --git a/wam_description/xacro/wam_table.urdf.xacro b/wam_description/xacro/wam_table.urdf.xacro
index 40739c2..468e77f 100644
--- a/wam_description/xacro/wam_table.urdf.xacro
+++ b/wam_description/xacro/wam_table.urdf.xacro
@@ -1,15 +1,12 @@
 <?xml version="1.0"?>
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro"
-       name="wam">
+
+<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
 
 	<property name="M_PI" value="3.1415926535897931" />
 
 	<link name="world" />
 
-	<xacro:include filename="$(find gazebo_worlds)/objects/table.urdf.xacro" />
+	<xacro:include filename="$(find wam_description)/xacro/table.urdf.xacro" />
 
 	<joint name="world_table_joint" type="fixed" static="true">
 		<parent link="world"/>
@@ -27,4 +24,3 @@
 	</joint>
 
 </robot>
-
diff --git a/wam_description/xacro/wam_tool_plate.urdf.xacro b/wam_description/xacro/wam_tool_plate.urdf.xacro
index 1530ea9..7b95484 100644
--- a/wam_description/xacro/wam_tool_plate.urdf.xacro
+++ b/wam_description/xacro/wam_tool_plate.urdf.xacro
@@ -29,7 +29,7 @@
         </collision>
     </link>
     <gazebo reference="wam_tool_plate">
-        <material>Gazebo/Grey</material>
+        <material>Gazebo/White</material>
         <selfCollide>true</selfCollide>
     </gazebo>
 
diff --git a/wam_control_gazebo/CMakeLists.txt b/wam_gazebo_ros_control/CMakeLists.txt
similarity index 87%
rename from wam_control_gazebo/CMakeLists.txt
rename to wam_gazebo_ros_control/CMakeLists.txt
index f7d5625..6b84ae6 100644
--- a/wam_control_gazebo/CMakeLists.txt
+++ b/wam_gazebo_ros_control/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(wam_control_gazebo)
+project(wam_gazebo_ros_control)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -10,7 +10,6 @@ find_package(catkin REQUIRED)
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(gazebo REQUIRED)
 
-
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
@@ -78,7 +77,7 @@ find_package(gazebo REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES wam_control_gazebo
+#  LIBRARIES wam_gazebo_ros_control
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -94,21 +93,21 @@ include_directories(include
 )
 
 ## Declare a cpp library
-add_library(wam_control_gazebo
-   src/robot_sim_wam.cpp
+add_library(wam_gazebo_ros_control
+   src/wam_robot_hw_sim.cpp
 )
 
 ## Declare a cpp executable
-# add_executable(wam_control_gazebo_node src/wam_control_gazebo_node.cpp)
+# add_executable(wam_gazebo_ros_control_node src/wam_gazebo_ros_control_node.cpp)
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
-# add_dependencies(wam_control_gazebo_node wam_control_gazebo_generate_messages_cpp)
+# add_dependencies(wam_gazebo_ros_control_node wam_gazebo_ros_control_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(wam_control_gazebo_node
-#   ${catkin_LIBRARIES}
-# )
+#target_link_libraries(${PROJECT_NAME}
+#   ${catkin_LIBRARIES} 
+#)
 
 #############
 ## Install ##
@@ -125,11 +124,11 @@ add_library(wam_control_gazebo
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS wam_control_gazebo wam_control_gazebo_node
+install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+ )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -139,18 +138,18 @@ add_library(wam_control_gazebo
 # )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
+install(FILES robot_sim_plugins.xml
 #   # myfile1
 #   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 #############
 ## Testing ##
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_control_gazebo.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_gazebo_ros_control.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/wam_control_gazebo/package.xml b/wam_gazebo_ros_control/package.xml
similarity index 72%
rename from wam_control_gazebo/package.xml
rename to wam_gazebo_ros_control/package.xml
index 52219d1..b6d8a17 100644
--- a/wam_control_gazebo/package.xml
+++ b/wam_gazebo_ros_control/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>wam_control_gazebo</name>
+  <name>wam_gazebo_ros_control</name>
   <version>2.0.0</version>
-  <description>The wam_control_gazebo package</description>
+  <description>The wam_gazebo_ros_control package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -43,10 +43,19 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-   <buildtool_depend>gazebo_ros_control</buildtool_depend>
-   <buildtool_depend>gazebo_ros_control_plugin</buildtool_depend>
-   <buildtool_depend>wam_description</buildtool_depend>
-   <buildtool_depend>gazebo</buildtool_depend>
+   <build_depend>gazebo_ros_control</build_depend>
+   <!--build_depend>gazebo_ros_control_plugin</build_depend-->
+   <build_depend>wam_description</build_depend>
+   <build_depend>gazebo</build_depend>
+   
+    <!--run_depend>roscpp</run_depend-->
+    <!--run_depend>gazebo</run_depend-->
+    <!--run_depend>gazebo_ros</run_depend-->
+    <!--run_depend>controller_manager</run_depend-->
+    <!--run_depend>pluginlib</run_depend-->
+    <!--run_depend>transmission_interface</run_depend-->
+    <!--run_depend>urdf</run_depend-->
+    <run_depend>gazebo_ros_control</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
@@ -55,7 +64,7 @@
 
     <!-- Other tools can request additional information be placed here -->
     
-    <gazebo_ros_control plugin="${prefix}/robot_sim_plugins.xml" />
+    <gazebo_ros_control plugin="${prefix}/wam_gazebo_ros_control_plugins.xml" />
 
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/wam_control_gazebo/src/robot_sim_wam.cpp b/wam_gazebo_ros_control/src/wam_robot_hw_sim.cpp
similarity index 91%
rename from wam_control_gazebo/src/robot_sim_wam.cpp
rename to wam_gazebo_ros_control/src/wam_robot_hw_sim.cpp
index 905a6f8..413c4a3 100644
--- a/wam_control_gazebo/src/robot_sim_wam.cpp
+++ b/wam_gazebo_ros_control/src/wam_robot_hw_sim.cpp
@@ -11,9 +11,9 @@
 #include <gazebo/physics/physics.hh>
 #include <gazebo/common/common.hh>
 
-namespace wam_control_gazebo
+namespace wam_gazebo_ros_control
 {
-  class RobotSimWam:public gazebo_ros_control::RobotHWSim
+  class WamRobotHWSim:public gazebo_ros_control::RobotHWSim
   {
     unsigned int n_dof_;
 
@@ -30,7 +30,7 @@ namespace wam_control_gazebo
     
     public:
     
-    RobotSimWam(void):n_dof_(7),joint_name_(n_dof_),joint_position_(n_dof_),
+    WamRobotHWSim(void):n_dof_(7),joint_name_(n_dof_),joint_position_(n_dof_),
       joint_velocity_(n_dof_),joint_effort_(n_dof_),joint_effort_command_(n_dof_)
     {
       joint_name_[0]="wam_joint_1";
@@ -97,5 +97,4 @@ namespace wam_control_gazebo
   };
 }
 
-PLUGINLIB_DECLARE_CLASS(wam_control_gazebo,RobotSimWam,wam_control_gazebo::RobotSimWam,
-  gazebo_ros_control::RobotHWSim)
+PLUGINLIB_EXPORT_CLASS(wam_gazebo_ros_control::WamRobotHWSim,gazebo_ros_control::RobotHWSim)
diff --git a/wam_control_gazebo/robot_sim_plugins.xml b/wam_gazebo_ros_control/wam_gazebo_ros_control_plugins.xml
similarity index 62%
rename from wam_control_gazebo/robot_sim_plugins.xml
rename to wam_gazebo_ros_control/wam_gazebo_ros_control_plugins.xml
index d9d450b..fb5ee2b 100644
--- a/wam_control_gazebo/robot_sim_plugins.xml
+++ b/wam_gazebo_ros_control/wam_gazebo_ros_control_plugins.xml
@@ -1,8 +1,8 @@
-<library path="lib/libwam_control_gazebo">
+<library path="lib/libwam_gazebo_ros_control">
 
   <class
-    name="wam_control_gazebo/RobotSimWam"
-    type="wam_control_gazebo::RobotSimWam"
+    name="wam_gazebo_ros_control/WamRobotHWSim"
+    type="wam_gazebo_ros_control::WamRobotHWSim"
     base_class_type="gazebo_ros_control::RobotHWSim">
     <description>
       A ROS/Gazebo interface for Barrett WAM, exporting a