From cd46aa58814442526ef95d6414fd3039acbfeffa Mon Sep 17 00:00:00 2001
From: Felix Durchdewald <145785497+fdurchdewald@users.noreply.github.com>
Date: Wed, 25 Oct 2023 06:56:31 +0200
Subject: [PATCH] moveit_servo package executabe name has changed (#854)

* moveit_servo package changed executable name to servo_node

* ee-frame name updated

(cherry picked from commit c4d8d6138e09d3be3737f9b047a459c259075da2)
---
 ur_moveit_config/config/ur_servo.yaml       | 2 +-
 ur_moveit_config/launch/ur_moveit.launch.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_moveit_config/config/ur_servo.yaml b/ur_moveit_config/config/ur_servo.yaml
index 980270242..767481a8a 100644
--- a/ur_moveit_config/config/ur_servo.yaml
+++ b/ur_moveit_config/config/ur_servo.yaml
@@ -40,7 +40,7 @@ move_group_name:  ur_manipulator  # Often 'manipulator' or 'arm'
 planning_frame: base_link  # The MoveIt planning frame. Often 'base_link' or 'world'
 
 ## Other frames
-ee_frame_name: tool0  # The name of the end effector link, used to return the EE pose
+ee_frame: tool0  # The name of the end effector link, used to return the EE pose
 robot_link_command_frame:  tool0  # commands must be given in the frame of a robot link. Usually either the base or end effector
 
 ## Stopping behaviour
diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
index 90b185064..5fc5de2d8 100644
--- a/ur_moveit_config/launch/ur_moveit.launch.py
+++ b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -242,7 +242,7 @@ def launch_setup(context, *args, **kwargs):
     servo_node = Node(
         package="moveit_servo",
         condition=IfCondition(launch_servo),
-        executable="servo_node_main",
+        executable="servo_node",
         parameters=[
             servo_params,
             robot_description,