From 306fb66873dba1163f491946f048bf3eec4fc6e7 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 25 Apr 2025 00:51:41 -0300
Subject: [PATCH] Remove references to ignition in message types.

---
 q2d_description/config/ros_gz_bridge.yaml | 2 +-
 q2d_description/urdf/q2d.urdf             | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/q2d_description/config/ros_gz_bridge.yaml b/q2d_description/config/ros_gz_bridge.yaml
index 2154629..33167fe 100644
--- a/q2d_description/config/ros_gz_bridge.yaml
+++ b/q2d_description/config/ros_gz_bridge.yaml
@@ -1,7 +1,7 @@
 - ros_topic_name: "/clock"
   gz_topic_name: "/clock"
   ros_type_name: "rosgraph_msgs/msg/Clock"
-  gz_type_name: "ignition.msgs.Clock"
+  gz_type_name: "gz.msgs.Clock"
 #  subscriber_queue: 5       # Default 10
 #  publisher_queue: 6        # Default 10
 #  lazy: true                # Default "false"
diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index abe7be3..9b4dd72 100644
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -73,7 +73,7 @@
 		<child link="shoulder_active_link"/>
 		<origin xyz="0 0 0.1477"/>
 		<axis xyz="0 0 1"/>
-		<limit lower="-1.570796326794897" upper="1.570796326794897"
+		<limit lower="${-pi/2}" upper="${pi/2}"
 			velocity="2.27" effort="27.94" />
 		<dynamics damping="29.7914" />
 	</joint>
@@ -138,7 +138,7 @@
 		<child link="elbow_active_link"/>
 		<origin xyz="0.343 0 0"/>
 		<axis xyz="0 0 1"/>
-		<limit lower="-1.570796326794897" upper="1.570796326794897"
+		<limit lower="${-pi/2}" upper="${pi/2}"
 			velocity="23.08" effort="13.62" />
 		<dynamics damping="2.6404" />
 	</joint>
-- 
2.12.0