hand表記をgripperへ変更

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
@@ -52,15 +52,15 @@ 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 }
 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 }

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:

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

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,

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

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

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