Merge pull request #102 from AcutronicRobotics/actuation_servomotor_name

acutation_servomotor to actuator_rotaryservo
AcutronicRobotics · Jun 10, 2019 · 6693b31 · 6693b31
2 parents f87e7e0 + 2d4c0fa
commit 6693b31
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Showing 17 changed files with 82 additions and 82 deletions.
diff --git a/hros_cognition_mara_components/config/motors.yaml b/hros_cognition_mara_components/config/motors.yaml
@@ -1,18 +1,18 @@
 simulated_motors:
-  - "/hrim_actuation_servomotor_000000000001/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000001/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000002/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000002/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000003/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000003/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000001/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000001/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000002/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000002/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000003/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000003/trajectory_axis2"
 
 real_motors:
-  - "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis2"
 
 motors:
   - "motor1"

diff --git a/hros_cognition_mara_components/config/two_motors.yaml b/hros_cognition_mara_components/config/two_motors.yaml
@@ -1,30 +1,30 @@
 simulated_motors:
-  - "/hrim_actuation_servomotor_000000000001/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000001/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000002/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000002/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000003/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000003/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000005/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000005/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000006/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000006/trajectory_axis2"
-  - "/hrim_actuation_servomotor_000000000007/trajectory_axis1"
-  - "/hrim_actuation_servomotor_000000000007/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000001/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000001/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000002/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000002/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000003/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000003/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000005/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000005/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000006/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000006/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_000000000007/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_000000000007/trajectory_axis2"
 
 real_motors:
-  - "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A084/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A084/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A0C0/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A0C0/trajectory_axis2"
-  - "/hrim_actuation_servomotor_70B3D521A092/trajectory_axis1"
-  - "/hrim_actuation_servomotor_70B3D521A092/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A084/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A084/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A0C0/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A0C0/trajectory_axis2"
+  - "/hrim_actuator_rotaryservo_70B3D521A092/trajectory_axis1"
+  - "/hrim_actuator_rotaryservo_70B3D521A092/trajectory_axis2"
 
 motors:
   - "motor1"

diff --git a/mara_description/urdf/mara_gazebo.urdf.xacro b/mara_description/urdf/mara_gazebo.urdf.xacro
@@ -18,21 +18,21 @@
         <joint_name>${prefix}joint_finger</joint_name>
     	</plugin>
 
-      <plugin name="hrim_actuation_servomotor${MAC1}" filename="libmara_gazebo_joint_plugin.so">
+      <plugin name="hrim_actuator_rotaryservo${MAC1}" filename="libmara_gazebo_joint_plugin.so">
         <ros></ros>
         <axis1>${prefix}motor2</axis1>
         <axis2>${prefix}motor1</axis2>
         <type>series14</type>
       </plugin>
 
-      <plugin name="hrim_actuation_servomotor${MAC2}" filename="libmara_gazebo_joint_plugin.so">
+      <plugin name="hrim_actuator_rotaryservo${MAC2}" filename="libmara_gazebo_joint_plugin.so">
         <ros></ros>
         <axis1>${prefix}motor3</axis1>
         <axis2>${prefix}motor4</axis2>
         <type>series17</type>
       </plugin>
 
-      <plugin name="hrim_actuation_servomotor${MAC3}" filename="libmara_gazebo_joint_plugin.so">
+      <plugin name="hrim_actuator_rotaryservo${MAC3}" filename="libmara_gazebo_joint_plugin.so">
         <ros></ros>
         <axis1>${prefix}motor5</axis1>
         <axis2>${prefix}motor6</axis2>

diff --git a/mara_description/urdf/mara_robot.urdf b/mara_description/urdf/mara_robot.urdf
@@ -435,19 +435,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/mara_robot_gripper_140.urdf b/mara_description/urdf/mara_robot_gripper_140.urdf
@@ -435,19 +435,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/mara_robot_gripper_140_no_table.urdf b/mara_description/urdf/mara_robot_gripper_140_no_table.urdf
@@ -435,19 +435,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/mara_robot_gripper_85.urdf b/mara_description/urdf/mara_robot_gripper_85.urdf
@@ -435,19 +435,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/mara_robot_gripper_hande.urdf b/mara_description/urdf/mara_robot_gripper_hande.urdf
@@ -435,19 +435,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/reinforcement_learning/mara_gazebo_run.urdf.xacro b/mara_description/urdf/reinforcement_learning/mara_gazebo_run.urdf.xacro
@@ -15,19 +15,19 @@
         <joint_name>${prefix}motor6</joint_name>
         <joint_name>${prefix}joint_finger</joint_name>
       </plugin>
-      <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor${MAC1}">
+      <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo${MAC1}">
         <ros/>
         <axis1>${prefix}motor2</axis1>
         <axis2>${prefix}motor1</axis2>
         <type>series14</type>
       </plugin>
-      <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor${MAC2}">
+      <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo${MAC2}">
         <ros/>
         <axis1>${prefix}motor3</axis1>
         <axis2>${prefix}motor4</axis2>
         <type>series17</type>
       </plugin>
-      <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor${MAC3}">
+      <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo${MAC3}">
         <ros/>
         <axis1>${prefix}motor5</axis1>
         <axis2>${prefix}motor6</axis2>

diff --git a/mara_description/urdf/reinforcement_learning/mara_gazebo_train.urdf.xacro b/mara_description/urdf/reinforcement_learning/mara_gazebo_train.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="mara_gazebo_train" params="prefix MAC0">
     <gazebo>
-      <plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuation_servomotor${MAC0}">
+      <plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuator_rotaryservo${MAC0}">
         <ros/>
         <axis1>${prefix}motor2</axis1>
         <axis2>${prefix}motor1</axis2>

diff --git a/mara_description/urdf/reinforcement_learning/mara_robot_gripper_140_camera_run.urdf b/mara_description/urdf/reinforcement_learning/mara_robot_gripper_140_camera_run.urdf
@@ -374,19 +374,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/reinforcement_learning/mara_robot_gripper_140_camera_train.urdf b/mara_description/urdf/reinforcement_learning/mara_robot_gripper_140_camera_train.urdf
@@ -361,7 +361,7 @@
     </actuator>
   </transmission>
   <gazebo>
-    <plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuation_servomotor_00000000000">
+    <plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuator_rotaryservo_00000000000">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>

diff --git a/mara_description/urdf/reinforcement_learning/mara_robot_run.urdf b/mara_description/urdf/reinforcement_learning/mara_robot_run.urdf
@@ -374,19 +374,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>

diff --git a/mara_description/urdf/reinforcement_learning/mara_robot_train.urdf b/mara_description/urdf/reinforcement_learning/mara_robot_train.urdf
@@ -361,7 +361,7 @@
     </actuator>
   </transmission>
   <gazebo>
-    <plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuation_servomotor_00000000000">
+    <plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuator_rotaryservo_00000000000">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>

diff --git a/mara_description/urdf/two_mara_robots.urdf b/mara_description/urdf/two_mara_robots.urdf
@@ -435,19 +435,19 @@
       <joint_name>motor6</joint_name>
       <joint_name>joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
       <ros/>
       <axis1>motor2</axis1>
       <axis2>motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
       <ros/>
       <axis1>motor3</axis1>
       <axis2>motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
       <ros/>
       <axis1>motor5</axis1>
       <axis2>motor6</axis2>
@@ -882,19 +882,19 @@
       <joint_name>mara2_motor6</joint_name>
       <joint_name>mara2_joint_finger</joint_name>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000005">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000005">
       <ros/>
       <axis1>mara2_motor2</axis1>
       <axis2>mara2_motor1</axis2>
       <type>series14</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000006">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000006">
       <ros/>
       <axis1>mara2_motor3</axis1>
       <axis2>mara2_motor4</axis2>
       <type>series17</type>
     </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000007">
+    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000007">
       <ros/>
       <axis1>mara2_motor5</axis1>
       <axis2>mara2_motor6</axis2>