diff --git a/sciurus17_control/config/manipulator_config.yaml b/sciurus17_control/config/manipulator_config.yaml
index d221d80b..57d41b9b 100644
--- a/sciurus17_control/config/manipulator_config.yaml
+++ b/sciurus17_control/config/manipulator_config.yaml
@@ -8,7 +8,7 @@ joint_groups:
- r_arm_joint5
- r_arm_joint6
- r_arm_joint7
- - r_hand_joint
+ - r_gripper_joint
sync_read:
- position
- velocity
@@ -25,7 +25,7 @@ joint_groups:
- l_arm_joint5
- l_arm_joint6
- l_arm_joint7
- - l_hand_joint
+ - l_gripper_joint
sync_read:
- position
- velocity
@@ -52,7 +52,7 @@ r_arm_joint4: { id: 5, dynamixel: "XM540", operating_mode: 3 }
r_arm_joint5: { id: 6, dynamixel: "XM430", operating_mode: 3 }
r_arm_joint6: { id: 7, dynamixel: "XM430", operating_mode: 3 }
r_arm_joint7: { id: 8, dynamixel: "XM430", operating_mode: 3 }
-r_hand_joint: { id: 9, dynamixel: "XM430", operating_mode: 3 }
+r_gripper_joint: { id: 9, dynamixel: "XM430", operating_mode: 3 }
l_arm_joint1: { id: 10, dynamixel: "XM540", operating_mode: 3 }
l_arm_joint2: { id: 11, dynamixel: "XM540", operating_mode: 3 }
l_arm_joint3: { id: 12, dynamixel: "XM430", operating_mode: 3 }
@@ -60,7 +60,7 @@ l_arm_joint4: { id: 13, dynamixel: "XM540", operating_mode: 3 }
l_arm_joint5: { id: 14, dynamixel: "XM430", operating_mode: 3 }
l_arm_joint6: { id: 15, dynamixel: "XM430", operating_mode: 3 }
l_arm_joint7: { id: 16, dynamixel: "XM430", operating_mode: 3 }
-l_hand_joint: { id: 17, dynamixel: "XM430", operating_mode: 3 }
+l_gripper_joint: { id: 17, dynamixel: "XM430", operating_mode: 3 }
waist_yaw_joint: { id: 18, dynamixel: "XM540", operating_mode: 3 }
neck_yaw_joint: { id: 19, dynamixel: "XM430", operating_mode: 3 }
neck_pitch_joint: { id: 20, dynamixel: "XM430", operating_mode: 3 }
\ No newline at end of file
diff --git a/sciurus17_control/config/sciurus17_controllers.yaml b/sciurus17_control/config/sciurus17_controllers.yaml
index 8ceed62e..13374b0c 100644
--- a/sciurus17_control/config/sciurus17_controllers.yaml
+++ b/sciurus17_control/config/sciurus17_controllers.yaml
@@ -4,11 +4,11 @@ controller_manager:
right_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
- right_hand_controller:
+ right_gripper_controller:
type: position_controllers/GripperActionController
left_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
- left_hand_controller:
+ left_gripper_controller:
type: position_controllers/GripperActionController
neck_controller:
type: joint_trajectory_controller/JointTrajectoryController
@@ -34,9 +34,9 @@ right_arm_controller:
state_interfaces:
- position
-right_hand_controller:
+right_gripper_controller:
ros__parameters:
- joint: r_hand_joint
+ joint: r_gripper_joint
goal_tolerance: 0.1
command_interfaces:
@@ -62,9 +62,9 @@ left_arm_controller:
state_interfaces:
- position
-left_hand_controller:
+left_gripper_controller:
ros__parameters:
- joint: l_hand_joint
+ joint: l_gripper_joint
goal_tolerance: 0.1
command_interfaces:
diff --git a/sciurus17_control/launch/sciurus17_control.launch.py b/sciurus17_control/launch/sciurus17_control.launch.py
index ae6680f8..fb782a99 100644
--- a/sciurus17_control/launch/sciurus17_control.launch.py
+++ b/sciurus17_control/launch/sciurus17_control.launch.py
@@ -69,8 +69,8 @@ def generate_launch_description():
output='screen',
)
- spawn_right_hand_controller = ExecuteProcess(
- cmd=['ros2 run controller_manager spawner right_hand_controller'],
+ spawn_right_gripper_controller = ExecuteProcess(
+ cmd=['ros2 run controller_manager spawner right_gripper_controller'],
shell=True,
output='screen',
)
@@ -81,8 +81,8 @@ def generate_launch_description():
output='screen',
)
- spawn_left_hand_controller = ExecuteProcess(
- cmd=['ros2 run controller_manager spawner left_hand_controller'],
+ spawn_left_gripper_controller = ExecuteProcess(
+ cmd=['ros2 run controller_manager spawner left_gripper_controller'],
shell=True,
output='screen',
)
@@ -103,9 +103,9 @@ def generate_launch_description():
declare_loaded_description,
controller_manager,
spawn_right_arm_controller,
- spawn_right_hand_controller,
+ spawn_right_gripper_controller,
spawn_left_arm_controller,
- spawn_left_hand_controller,
+ spawn_left_gripper_controller,
spawn_joint_state_broadcaster,
spawn_neck_controller,
spawn_waist_yaw_controller
diff --git a/sciurus17_gazebo/launch/sciurus17_with_table.launch.py b/sciurus17_gazebo/launch/sciurus17_with_table.launch.py
index 113be8b2..3f4dc782 100644
--- a/sciurus17_gazebo/launch/sciurus17_with_table.launch.py
+++ b/sciurus17_gazebo/launch/sciurus17_with_table.launch.py
@@ -76,8 +76,8 @@ def generate_launch_description():
output='screen',
)
- spawn_right_hand_controller = ExecuteProcess(
- cmd=['ros2 run controller_manager spawner right_hand_controller'],
+ spawn_right_gripper_controller = ExecuteProcess(
+ cmd=['ros2 run controller_manager spawner right_gripper_controller'],
shell=True,
output='screen',
)
@@ -88,8 +88,8 @@ def generate_launch_description():
output='screen',
)
- spawn_left_hand_controller = ExecuteProcess(
- cmd=['ros2 run controller_manager spawner left_hand_controller'],
+ spawn_left_gripper_controller = ExecuteProcess(
+ cmd=['ros2 run controller_manager spawner left_gripper_controller'],
shell=True,
output='screen',
)
@@ -119,9 +119,9 @@ def generate_launch_description():
ignition_spawn_entity,
spawn_joint_state_broadcaster,
spawn_right_arm_controller,
- spawn_right_hand_controller,
+ spawn_right_gripper_controller,
spawn_left_arm_controller,
- spawn_left_hand_controller,
+ spawn_left_gripper_controller,
spawn_neck_controller,
spawn_waist_yaw_controller,
move_group,
diff --git a/sciurus17_moveit_config/config/joint_limits.yaml b/sciurus17_moveit_config/config/joint_limits.yaml
index a19ce4bc..5fe344c1 100644
--- a/sciurus17_moveit_config/config/joint_limits.yaml
+++ b/sciurus17_moveit_config/config/joint_limits.yaml
@@ -43,12 +43,12 @@ joint_limits:
max_velocity: 5.9692114350000001
has_acceleration_limits: true
max_acceleration: 10.0
- l_hand_joint:
+ l_gripper_joint:
has_velocity_limits: true
max_velocity: 5.9692114350000001
has_acceleration_limits: true
max_acceleration: 10.0
- l_hand_mimic_joint:
+ l_gripper_mimic_joint:
has_velocity_limits: true
max_velocity: 5.9692114350000001
has_acceleration_limits: true
@@ -88,12 +88,12 @@ joint_limits:
max_velocity: 5.9692114350000001
has_acceleration_limits: true
max_acceleration: 10.0
- r_hand_joint:
+ r_gripper_joint:
has_velocity_limits: true
max_velocity: 5.9692114350000001
has_acceleration_limits: true
max_acceleration: 10.0
- r_hand_mimic_joint:
+ r_gripper_mimic_joint:
has_velocity_limits: true
max_velocity: 5.9692114350000001
has_acceleration_limits: true
diff --git a/sciurus17_moveit_config/config/moveit.rviz b/sciurus17_moveit_config/config/moveit.rviz
index a2ccd16d..60a28969 100644
--- a/sciurus17_moveit_config/config/moveit.rviz
+++ b/sciurus17_moveit_config/config/moveit.rviz
@@ -94,12 +94,12 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- l_handA_link:
+ l_gripperA_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- l_handB_link:
+ l_gripperB_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -154,12 +154,12 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- r_handA_link:
+ r_gripperA_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_handB_link:
+ r_gripperB_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -282,12 +282,12 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- l_handA_link:
+ l_gripperA_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- l_handB_link:
+ l_gripperB_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -342,12 +342,12 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- r_handA_link:
+ r_gripperA_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_handB_link:
+ r_gripperB_link:
Alpha: 1
Show Axes: false
Show Trail: false
diff --git a/sciurus17_moveit_config/config/moveit_controllers.yaml b/sciurus17_moveit_config/config/moveit_controllers.yaml
index d3a51119..e532b7af 100644
--- a/sciurus17_moveit_config/config/moveit_controllers.yaml
+++ b/sciurus17_moveit_config/config/moveit_controllers.yaml
@@ -5,9 +5,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll
moveit_simple_controller_manager:
controller_names:
- right_arm_controller
- - right_hand_controller
+ - right_gripper_controller
- left_arm_controller
- - left_hand_controller
+ - left_gripper_controller
- neck_controller
- waist_yaw_controller
@@ -24,12 +24,12 @@ moveit_simple_controller_manager:
- r_arm_joint6
- r_arm_joint7
- right_hand_controller:
+ right_gripper_controller:
action_ns: gripper_cmd
type: GripperCommand
default: true
joints:
- - r_hand_joint
+ - r_gripper_joint
left_arm_controller:
action_ns: follow_joint_trajectory
@@ -44,12 +44,12 @@ moveit_simple_controller_manager:
- l_arm_joint6
- l_arm_joint7
- left_hand_controller:
+ left_gripper_controller:
action_ns: gripper_cmd
type: GripperCommand
default: true
joints:
- - l_hand_joint
+ - l_gripper_joint
neck_controller:
action_ns: follow_joint_trajectory
diff --git a/sciurus17_moveit_config/config/sciurus17.srdf b/sciurus17_moveit_config/config/sciurus17.srdf
index b9e83128..33398a8f 100644
--- a/sciurus17_moveit_config/config/sciurus17.srdf
+++ b/sciurus17_moveit_config/config/sciurus17.srdf
@@ -18,9 +18,9 @@
-
-
-
+
+
+
@@ -51,9 +51,9 @@
-
-
-
+
+
+
@@ -115,13 +115,13 @@
-
-
+
+
-
-
+
+
@@ -165,27 +165,27 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
+
@@ -200,8 +200,8 @@
-
-
+
+
@@ -217,7 +217,7 @@
-
+
@@ -232,7 +232,7 @@
-
+
@@ -251,8 +251,8 @@
-
-
+
+
@@ -282,17 +282,17 @@
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+