From 17d7473d9a26e38051f673dbc505461aa88d9e99 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 18 May 2018 12:15:44 -0300
Subject: [PATCH] Changed URDF to support Effort and Voltage hardware
 interfaces.

---
 q2d_description/urdf/q2d.urdf | 2 ++
 1 file changed, 2 insertions(+)

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">
-- 
2.12.0