Update to topic based ros2 control package

PickNikRobotics · Oct 11, 2023 · d42a3ea · d42a3ea
1 parent 253d174
commit d42a3ea
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/robotiq_description/urdf/2f_140.ros2_control.xacro b/robotiq_description/urdf/2f_140.ros2_control.xacro
@@ -14,9 +14,9 @@
             <!-- Plugins -->
             <hardware>
                 <xacro:if value="${sim_isaac}">
-                    <plugin>isaac_ros2_control/IsaacSystem</plugin>
-                    <param name="joint_commands_topic">/isaac_joint_commands</param>
-                    <param name="joint_states_topic">/isaac_joint_states</param>
+                    <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
+                    <param name="joint_commands_topic">topic_based_joint_commands</param>
+                    <param name="joint_states_topic">topic_based_joint_states</param>
                 </xacro:if>
                 <xacro:if value="${sim_ignition}">
                     <plugin>ign_ros2_control/IgnitionSystem</plugin>