From b6c6ce67fb4bf28d1efac32cbdd2ddafe7d0faa6 Mon Sep 17 00:00:00 2001
From: Eric Marcil <eric.marcil@motoman.com>
Date: Tue, 24 Sep 2024 16:37:02 -0400
Subject: [PATCH 1/2] test_<model>.launch files update

Changed the test_<model>.launch files to use the "joint_state_publisher_gui" instead of the "joint_state_publisher" so that the joint slide controls are displayed with RViz.
---
 motoman_gp12_support/launch/test_gp12.launch         | 3 +--
 motoman_gp180_support/launch/test_gp180_120.launch   | 6 +-----
 motoman_gp200r_support/launch/test_gp200r.launch     | 6 +-----
 motoman_gp25_support/launch/test_gp25.launch         | 5 +----
 motoman_gp35l_support/launch/test_gp35l.launch       | 3 +--
 motoman_gp4_support/launch/test_gp4.launch           | 3 +--
 motoman_gp50_support/launch/test_gp50.launch         | 5 +----
 motoman_gp70l_support/launch/test_gp70l.launch       | 3 +--
 motoman_gp7_support/launch/test_gp7.launch           | 3 +--
 motoman_gp88_support/launch/test_gp88.launch         | 7 +------
 motoman_gp8_support/launch/test_gp8.launch           | 3 +--
 motoman_hc10_support/launch/test_hc10.launch         | 3 +--
 motoman_hc10_support/launch/test_hc10dt.launch       | 3 +--
 motoman_hc10_support/launch/test_hc10dt_b10.launch   | 3 +--
 motoman_hc10_support/launch/test_hc10dtp_b00.launch  | 3 +--
 motoman_hc20_support/launch/test_hc20.launch         | 3 +--
 motoman_mh12_support/launch/test_mh12.launch         | 4 +---
 motoman_mh50_support/launch/test_mh50.launch         | 4 +---
 motoman_mh5_support/launch/test_mh5.launch           | 3 +--
 motoman_motomini_support/launch/test_motomini.launch | 4 +---
 motoman_sda10f_support/launch/test_sda10f.launch     | 3 +--
 motoman_sia10d_support/launch/test_sia10d.launch     | 3 +--
 motoman_sia10f_support/launch/test_sia10f.launch     | 4 +---
 motoman_sia20d_support/launch/test_sia20d.launch     | 3 +--
 motoman_sia30d_support/launch/test_sia30d.launch     | 5 +----
 motoman_sia50_support/launch/test_sia50.launch       | 3 +--
 motoman_sia5d_support/launch/test_sia5d.launch       | 4 +---
 27 files changed, 27 insertions(+), 75 deletions(-)

diff --git a/motoman_gp12_support/launch/test_gp12.launch b/motoman_gp12_support/launch/test_gp12.launch
index e3c88299..2385682f 100644
--- a/motoman_gp12_support/launch/test_gp12.launch
+++ b/motoman_gp12_support/launch/test_gp12.launch
@@ -1,8 +1,7 @@
 
 <launch>
 	<include file="$(find motoman_gp12_support)/launch/load_gp12.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp180_support/launch/test_gp180_120.launch b/motoman_gp180_support/launch/test_gp180_120.launch
index aea13a53..ef6c8a64 100644
--- a/motoman_gp180_support/launch/test_gp180_120.launch
+++ b/motoman_gp180_support/launch/test_gp180_120.launch
@@ -1,10 +1,6 @@
 <launch>
     <include file="$(find motoman_gp180_support)/launch/load_gp180_120.launch" />
-
-    <param name="use_gui" value="true" />
-
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp200r_support/launch/test_gp200r.launch b/motoman_gp200r_support/launch/test_gp200r.launch
index 7d3ab309..7579fc50 100644
--- a/motoman_gp200r_support/launch/test_gp200r.launch
+++ b/motoman_gp200r_support/launch/test_gp200r.launch
@@ -1,10 +1,6 @@
 <launch>
     <include file="$(find motoman_gp200r_support)/launch/load_gp200r.launch" />
-
-    <param name="use_gui" value="true" />
-
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp25_support/launch/test_gp25.launch b/motoman_gp25_support/launch/test_gp25.launch
index 0c047e12..39cc96cc 100644
--- a/motoman_gp25_support/launch/test_gp25.launch
+++ b/motoman_gp25_support/launch/test_gp25.launch
@@ -1,9 +1,6 @@
-<?xml version="1.0" ?>
 <launch>
 	<include file="$(find motoman_gp25_support)/launch/load_gp25.launch" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
-		<param name="use_gui" value="true" />
-	</node>
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp35l_support/launch/test_gp35l.launch b/motoman_gp35l_support/launch/test_gp35l.launch
index dd690238..ac2e4ccf 100644
--- a/motoman_gp35l_support/launch/test_gp35l.launch
+++ b/motoman_gp35l_support/launch/test_gp35l.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_gp35l_support)/launch/load_gp35l.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp4_support/launch/test_gp4.launch b/motoman_gp4_support/launch/test_gp4.launch
index 50d5bb59..8d6ea0c6 100644
--- a/motoman_gp4_support/launch/test_gp4.launch
+++ b/motoman_gp4_support/launch/test_gp4.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_gp4_support)/launch/load_gp4.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp50_support/launch/test_gp50.launch b/motoman_gp50_support/launch/test_gp50.launch
index 87376911..fa279bc5 100644
--- a/motoman_gp50_support/launch/test_gp50.launch
+++ b/motoman_gp50_support/launch/test_gp50.launch
@@ -1,9 +1,6 @@
-<?xml version="1.0" ?>
 <launch>
   <include file="$(find motoman_gp50_support)/launch/load_gp50.launch" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
-    <param name="use_gui" value="true" />
-  </node>
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp70l_support/launch/test_gp70l.launch b/motoman_gp70l_support/launch/test_gp70l.launch
index 2aab3245..60884c90 100644
--- a/motoman_gp70l_support/launch/test_gp70l.launch
+++ b/motoman_gp70l_support/launch/test_gp70l.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_gp70l_support)/launch/load_gp70l.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp7_support/launch/test_gp7.launch b/motoman_gp7_support/launch/test_gp7.launch
index 0f4b2e8e..c06e0679 100644
--- a/motoman_gp7_support/launch/test_gp7.launch
+++ b/motoman_gp7_support/launch/test_gp7.launch
@@ -1,8 +1,7 @@
 
 <launch>
 	<include file="$(find motoman_gp7_support)/launch/load_gp7.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp88_support/launch/test_gp88.launch b/motoman_gp88_support/launch/test_gp88.launch
index 80891bb9..39d94c82 100644
--- a/motoman_gp88_support/launch/test_gp88.launch
+++ b/motoman_gp88_support/launch/test_gp88.launch
@@ -1,11 +1,6 @@
 <launch>
   <include file="$(find motoman_gp88_support)/launch/load_gp88.launch" />
-
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="true" />
-  </node>
-
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_gp8_support/launch/test_gp8.launch b/motoman_gp8_support/launch/test_gp8.launch
index 56622189..27669c20 100644
--- a/motoman_gp8_support/launch/test_gp8.launch
+++ b/motoman_gp8_support/launch/test_gp8.launch
@@ -1,8 +1,7 @@
 
 <launch>
 	<include file="$(find motoman_gp8_support)/launch/load_gp8.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_hc10_support/launch/test_hc10.launch b/motoman_hc10_support/launch/test_hc10.launch
index b67ee5b8..fa93f862 100644
--- a/motoman_hc10_support/launch/test_hc10.launch
+++ b/motoman_hc10_support/launch/test_hc10.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_hc10_support)/launch/load_hc10.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_hc10_support/launch/test_hc10dt.launch b/motoman_hc10_support/launch/test_hc10dt.launch
index aa66dad0..117d4430 100644
--- a/motoman_hc10_support/launch/test_hc10dt.launch
+++ b/motoman_hc10_support/launch/test_hc10dt.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_hc10_support)/launch/load_hc10dt.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_hc10_support/launch/test_hc10dt_b10.launch b/motoman_hc10_support/launch/test_hc10dt_b10.launch
index 77387cd1..a1c202bc 100644
--- a/motoman_hc10_support/launch/test_hc10dt_b10.launch
+++ b/motoman_hc10_support/launch/test_hc10dt_b10.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_hc10_support)/launch/load_hc10dt_b10.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_hc10_support/launch/test_hc10dtp_b00.launch b/motoman_hc10_support/launch/test_hc10dtp_b00.launch
index b425fe67..5da9e168 100644
--- a/motoman_hc10_support/launch/test_hc10dtp_b00.launch
+++ b/motoman_hc10_support/launch/test_hc10dtp_b00.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_hc10_support)/launch/load_hc10dtp_b00.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_hc20_support/launch/test_hc20.launch b/motoman_hc20_support/launch/test_hc20.launch
index b4420127..239dc0f1 100644
--- a/motoman_hc20_support/launch/test_hc20.launch
+++ b/motoman_hc20_support/launch/test_hc20.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_hc20_support)/launch/load_hc20.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_mh12_support/launch/test_mh12.launch b/motoman_mh12_support/launch/test_mh12.launch
index dd4111ab..4c4767b3 100644
--- a/motoman_mh12_support/launch/test_mh12.launch
+++ b/motoman_mh12_support/launch/test_mh12.launch
@@ -1,8 +1,6 @@
-<?xml version="1.0" ?>
 <launch>
       <include file="$(find motoman_mh12_support)/launch/load_mh12.launch" />
-      <param name="use_gui" value="true" />
-      <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+      <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
       <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_mh50_support/launch/test_mh50.launch b/motoman_mh50_support/launch/test_mh50.launch
index 77adf233..5bc917c9 100644
--- a/motoman_mh50_support/launch/test_mh50.launch
+++ b/motoman_mh50_support/launch/test_mh50.launch
@@ -1,8 +1,6 @@
-
 <launch>
 	<include file="$(find motoman_mh50_support)/launch/load_mh50.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_mh5_support/launch/test_mh5.launch b/motoman_mh5_support/launch/test_mh5.launch
index 3655718f..104bb246 100644
--- a/motoman_mh5_support/launch/test_mh5.launch
+++ b/motoman_mh5_support/launch/test_mh5.launch
@@ -1,8 +1,7 @@
 
 <launch>
 	<include file="$(find motoman_mh5_support)/launch/load_mh5.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_motomini_support/launch/test_motomini.launch b/motoman_motomini_support/launch/test_motomini.launch
index e5a57ffa..f250718f 100644
--- a/motoman_motomini_support/launch/test_motomini.launch
+++ b/motoman_motomini_support/launch/test_motomini.launch
@@ -1,8 +1,6 @@
-
 <launch>
   <include file="$(find motoman_motomini_support)/launch/load_motomini.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sda10f_support/launch/test_sda10f.launch b/motoman_sda10f_support/launch/test_sda10f.launch
index 67098b94..b2bd8bb2 100644
--- a/motoman_sda10f_support/launch/test_sda10f.launch
+++ b/motoman_sda10f_support/launch/test_sda10f.launch
@@ -1,8 +1,7 @@
 
 <launch>
 	<include file="$(find motoman_sda10f_support)/launch/load_sda10f.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sia10d_support/launch/test_sia10d.launch b/motoman_sia10d_support/launch/test_sia10d.launch
index a87e250a..249e77b8 100644
--- a/motoman_sia10d_support/launch/test_sia10d.launch
+++ b/motoman_sia10d_support/launch/test_sia10d.launch
@@ -1,8 +1,7 @@
 
 <launch>
 	<include file="$(find motoman_sia10d_support)/launch/load_sia10d.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sia10f_support/launch/test_sia10f.launch b/motoman_sia10f_support/launch/test_sia10f.launch
index 58622380..a2fdc341 100644
--- a/motoman_sia10f_support/launch/test_sia10f.launch
+++ b/motoman_sia10f_support/launch/test_sia10f.launch
@@ -1,8 +1,6 @@
-
 <launch>
 	<include file="$(find motoman_sia10f_support)/launch/load_sia10f.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sia20d_support/launch/test_sia20d.launch b/motoman_sia20d_support/launch/test_sia20d.launch
index d30b168a..41db924a 100644
--- a/motoman_sia20d_support/launch/test_sia20d.launch
+++ b/motoman_sia20d_support/launch/test_sia20d.launch
@@ -1,7 +1,6 @@
 <launch>
 	<include file="$(find motoman_sia20d_support)/launch/load_sia20d.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sia30d_support/launch/test_sia30d.launch b/motoman_sia30d_support/launch/test_sia30d.launch
index 5f3f2e3c..dc51e56f 100644
--- a/motoman_sia30d_support/launch/test_sia30d.launch
+++ b/motoman_sia30d_support/launch/test_sia30d.launch
@@ -1,9 +1,6 @@
-<?xml version="1.0" ?>
 <launch>
   <include file="$(find motoman_sia30d_support)/launch/load_sia30d.launch" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
-    <param name="use_gui" value="true" />
-  </node>
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sia50_support/launch/test_sia50.launch b/motoman_sia50_support/launch/test_sia50.launch
index 7275ffe2..740bb27f 100644
--- a/motoman_sia50_support/launch/test_sia50.launch
+++ b/motoman_sia50_support/launch/test_sia50.launch
@@ -1,7 +1,6 @@
 <launch>
   <include file="$(find motoman_sia50_support)/launch/load_sia50.launch" />
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/motoman_sia5d_support/launch/test_sia5d.launch b/motoman_sia5d_support/launch/test_sia5d.launch
index ae79274d..971162ce 100644
--- a/motoman_sia5d_support/launch/test_sia5d.launch
+++ b/motoman_sia5d_support/launch/test_sia5d.launch
@@ -1,8 +1,6 @@
-
 <launch>
 	<include file="$(find motoman_sia5d_support)/launch/load_sia5d.launch" />
-	<param name="use_gui" value="true" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>

From bcd4d892a6ad458e6e35efa71a08c598e0f92677 Mon Sep 17 00:00:00 2001
From: Eric Marcil <eric.marcil@motoman.com>
Date: Wed, 9 Oct 2024 15:50:30 -0400
Subject: [PATCH 2/2] Updated dependency in package.xml

Updated dependency in package.xml
---
 motoman_ar2010_support/package.xml       | 2 +-
 motoman_gp12_support/package.xml         | 2 +-
 motoman_gp180_support/package.xml        | 2 +-
 motoman_gp200r_support/package.xml       | 2 +-
 motoman_gp25_support/package.xml         | 2 +-
 motoman_gp35l_support/package.xml        | 2 +-
 motoman_gp4_support/package.xml          | 2 +-
 motoman_gp50_support/package.xml         | 2 +-
 motoman_gp70l_support/package.xml        | 2 +-
 motoman_gp7_support/package.xml          | 2 +-
 motoman_gp88_support/package.xml         | 2 +-
 motoman_gp8_support/package.xml          | 2 +-
 motoman_hc10_support/package.xml         | 2 +-
 motoman_hc20_support/package.xml         | 2 +-
 motoman_mh12_support/package.xml         | 2 +-
 motoman_mh50_support/package.xml         | 2 +-
 motoman_mh5_support/package.xml          | 2 +-
 motoman_motomini_support/package.xml     | 2 +-
 motoman_sda10f_moveit_config/package.xml | 2 +-
 motoman_sda10f_support/package.xml       | 2 +-
 motoman_sia10d_support/package.xml       | 2 +-
 motoman_sia10f_support/package.xml       | 2 +-
 motoman_sia20d_moveit_config/package.xml | 2 +-
 motoman_sia20d_support/package.xml       | 2 +-
 motoman_sia30d_support/package.xml       | 2 +-
 motoman_sia50_support/package.xml        | 2 +-
 motoman_sia5d_support/package.xml        | 2 +-
 27 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/motoman_ar2010_support/package.xml b/motoman_ar2010_support/package.xml
index 164c9e2c..fc4019d7 100644
--- a/motoman_ar2010_support/package.xml
+++ b/motoman_ar2010_support/package.xml
@@ -47,7 +47,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp12_support/package.xml b/motoman_gp12_support/package.xml
index 2997e85c..2adb081f 100644
--- a/motoman_gp12_support/package.xml
+++ b/motoman_gp12_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp180_support/package.xml b/motoman_gp180_support/package.xml
index aea0e492..7b70c13a 100644
--- a/motoman_gp180_support/package.xml
+++ b/motoman_gp180_support/package.xml
@@ -50,7 +50,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
diff --git a/motoman_gp200r_support/package.xml b/motoman_gp200r_support/package.xml
index 76adf82c..264f9ae5 100644
--- a/motoman_gp200r_support/package.xml
+++ b/motoman_gp200r_support/package.xml
@@ -43,7 +43,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp25_support/package.xml b/motoman_gp25_support/package.xml
index 4433ad83..ed947093 100644
--- a/motoman_gp25_support/package.xml
+++ b/motoman_gp25_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp35l_support/package.xml b/motoman_gp35l_support/package.xml
index 0dd87da2..ed933057 100644
--- a/motoman_gp35l_support/package.xml
+++ b/motoman_gp35l_support/package.xml
@@ -43,7 +43,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp4_support/package.xml b/motoman_gp4_support/package.xml
index 7ca4db76..0d10cf26 100644
--- a/motoman_gp4_support/package.xml
+++ b/motoman_gp4_support/package.xml
@@ -44,7 +44,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp50_support/package.xml b/motoman_gp50_support/package.xml
index a8613666..357b87c7 100644
--- a/motoman_gp50_support/package.xml
+++ b/motoman_gp50_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp70l_support/package.xml b/motoman_gp70l_support/package.xml
index 5012f47c..f2b0cc95 100644
--- a/motoman_gp70l_support/package.xml
+++ b/motoman_gp70l_support/package.xml
@@ -43,7 +43,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp7_support/package.xml b/motoman_gp7_support/package.xml
index e3bdf221..0a18e9de 100644
--- a/motoman_gp7_support/package.xml
+++ b/motoman_gp7_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp88_support/package.xml b/motoman_gp88_support/package.xml
index 4e463f46..7139e4e6 100644
--- a/motoman_gp88_support/package.xml
+++ b/motoman_gp88_support/package.xml
@@ -42,7 +42,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_gp8_support/package.xml b/motoman_gp8_support/package.xml
index cb48f706..345b498e 100644
--- a/motoman_gp8_support/package.xml
+++ b/motoman_gp8_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_hc10_support/package.xml b/motoman_hc10_support/package.xml
index 6799325b..9873c9eb 100644
--- a/motoman_hc10_support/package.xml
+++ b/motoman_hc10_support/package.xml
@@ -60,7 +60,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_hc20_support/package.xml b/motoman_hc20_support/package.xml
index 6d8ddc96..4d2b1c22 100644
--- a/motoman_hc20_support/package.xml
+++ b/motoman_hc20_support/package.xml
@@ -46,7 +46,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_mh12_support/package.xml b/motoman_mh12_support/package.xml
index 8e76c763..0572ba9d 100644
--- a/motoman_mh12_support/package.xml
+++ b/motoman_mh12_support/package.xml
@@ -17,7 +17,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_mh50_support/package.xml b/motoman_mh50_support/package.xml
index 867e7198..36878350 100644
--- a/motoman_mh50_support/package.xml
+++ b/motoman_mh50_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_mh5_support/package.xml b/motoman_mh5_support/package.xml
index 85ac5e24..95f503e6 100644
--- a/motoman_mh5_support/package.xml
+++ b/motoman_mh5_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_motomini_support/package.xml b/motoman_motomini_support/package.xml
index 73f4c037..91cf3288 100644
--- a/motoman_motomini_support/package.xml
+++ b/motoman_motomini_support/package.xml
@@ -42,7 +42,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sda10f_moveit_config/package.xml b/motoman_sda10f_moveit_config/package.xml
index c764ee92..afdd1021 100644
--- a/motoman_sda10f_moveit_config/package.xml
+++ b/motoman_sda10f_moveit_config/package.xml
@@ -21,7 +21,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <exec_depend>industrial_robot_simulator</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_sda10f_support</exec_depend>
   <exec_depend>moveit_planners_ompl</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
diff --git a/motoman_sda10f_support/package.xml b/motoman_sda10f_support/package.xml
index cb5ab2fd..591d57cb 100644
--- a/motoman_sda10f_support/package.xml
+++ b/motoman_sda10f_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sia10d_support/package.xml b/motoman_sia10d_support/package.xml
index 186e1d5a..13cf09a5 100644
--- a/motoman_sia10d_support/package.xml
+++ b/motoman_sia10d_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sia10f_support/package.xml b/motoman_sia10f_support/package.xml
index 419571f9..f89ecf1e 100644
--- a/motoman_sia10f_support/package.xml
+++ b/motoman_sia10f_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sia20d_moveit_config/package.xml b/motoman_sia20d_moveit_config/package.xml
index e4c50aaf..6a68422b 100644
--- a/motoman_sia20d_moveit_config/package.xml
+++ b/motoman_sia20d_moveit_config/package.xml
@@ -21,7 +21,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <exec_depend>industrial_robot_simulator</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_sia20d_support</exec_depend>
   <exec_depend>moveit_planners_ompl</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
diff --git a/motoman_sia20d_support/package.xml b/motoman_sia20d_support/package.xml
index ec8a226e..12ce8bb8 100644
--- a/motoman_sia20d_support/package.xml
+++ b/motoman_sia20d_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sia30d_support/package.xml b/motoman_sia30d_support/package.xml
index 93ca618c..5c15e407 100644
--- a/motoman_sia30d_support/package.xml
+++ b/motoman_sia30d_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sia50_support/package.xml b/motoman_sia50_support/package.xml
index 62722c08..dca777b2 100644
--- a/motoman_sia50_support/package.xml
+++ b/motoman_sia50_support/package.xml
@@ -44,7 +44,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/motoman_sia5d_support/package.xml b/motoman_sia5d_support/package.xml
index 84d88031..bcd5c143 100644
--- a/motoman_sia5d_support/package.xml
+++ b/motoman_sia5d_support/package.xml
@@ -41,7 +41,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>