From 63472a7ad286b24342edd85461b1d6d462bb233a Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 28 Nov 2018 16:24:45 -0200
Subject: [PATCH] Change actuator names.

---
 wam_description/xacro/wam_j1.urdf.xacro | 3 ++-
 wam_description/xacro/wam_j2.urdf.xacro | 3 ++-
 wam_description/xacro/wam_j3.urdf.xacro | 3 ++-
 wam_description/xacro/wam_j4.urdf.xacro | 3 ++-
 wam_description/xacro/wam_j5.urdf.xacro | 3 ++-
 wam_description/xacro/wam_j6.urdf.xacro | 3 ++-
 wam_description/xacro/wam_j7.urdf.xacro | 3 ++-
 7 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro
index 71aa24d..10aafbb 100644
--- a/wam_description/xacro/wam_j1.urdf.xacro
+++ b/wam_description/xacro/wam_j1.urdf.xacro
@@ -51,7 +51,8 @@
 		<joint name="wam_joint_1">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j1">
+		<actuator name="j1_motor">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro
index 00b111d..47871f9 100644
--- a/wam_description/xacro/wam_j2.urdf.xacro
+++ b/wam_description/xacro/wam_j2.urdf.xacro
@@ -48,7 +48,8 @@
 		<joint name="wam_joint_2">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j2">
+		<actuator name="j2_motor">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 1b5c308..7a37d4c 100644
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -48,7 +48,8 @@
 		<joint name="wam_joint_3">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j3">
+		<actuator name="j3_motor">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro
index e8c7c5c..3b81011 100644
--- a/wam_description/xacro/wam_j4.urdf.xacro
+++ b/wam_description/xacro/wam_j4.urdf.xacro
@@ -48,7 +48,8 @@
 		<joint name="wam_joint_4">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j4">
+		<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 8e989e6..0c1a49a 100644
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -48,7 +48,8 @@
 		<joint name="wam_joint_5">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j5">
+		<actuator name="j5_motor">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro
index 7d121c3..87e5958 100644
--- a/wam_description/xacro/wam_j6.urdf.xacro
+++ b/wam_description/xacro/wam_j6.urdf.xacro
@@ -48,7 +48,8 @@
 		<joint name="wam_joint_6">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j6">
+		<actuator name="j6_motor">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro
index 972dee9..2695f23 100644
--- a/wam_description/xacro/wam_j7.urdf.xacro
+++ b/wam_description/xacro/wam_j7.urdf.xacro
@@ -48,7 +48,8 @@
 		<joint name="wam_joint_7">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
 		</joint>
-		<actuator name="j7">
+		<actuator name="j7_motor">
+			<hardwareInterface>EffortJointInterface</hardwareInterface>
 			<mechanicalReduction>1</mechanicalReduction>
 		</actuator>
 	</transmission>
-- 
2.12.0