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martinaxgloriamartinaxgloria
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Remove xcub prefix from icub/ergocub config packages
1 parent d40c714 commit cf29de6

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+42
-42
lines changed

‎README.md

+2-2

‎xcub_ergocub_moveit_config/.setup_assistant ‎ergocub_moveit_config/.setup_assistant

File renamed without changes.

‎xcub_icub_moveit_config/CMakeLists.txt ‎ergocub_moveit_config/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.22)
2-
project(xcub_icub_moveit_config)
2+
project(ergocub_moveit_config)
33

44
find_package(ament_cmake REQUIRED)
55

‎xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro ‎ergocub_moveit_config/config/ergocub.ros2_control.xacro

File renamed without changes.

‎xcub_ergocub_moveit_config/config/ergocub.srdf ‎ergocub_moveit_config/config/ergocub.srdf

File renamed without changes.

‎xcub_ergocub_moveit_config/config/ergocub.urdf.xacro ‎ergocub_moveit_config/config/ergocub.urdf.xacro

File renamed without changes.

‎xcub_ergocub_moveit_config/config/initial_positions.yaml ‎ergocub_moveit_config/config/initial_positions.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/joint_limits.yaml ‎ergocub_moveit_config/config/joint_limits.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/kinematics.yaml ‎ergocub_moveit_config/config/kinematics.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/moveit.rviz ‎ergocub_moveit_config/config/moveit.rviz

File renamed without changes.

‎xcub_ergocub_moveit_config/config/moveit_controllers.yaml ‎ergocub_moveit_config/config/moveit_controllers.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/ompl_planning.yaml ‎ergocub_moveit_config/config/ompl_planning.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml ‎ergocub_moveit_config/config/pilz_cartesian_limits.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/ros2_controllers.yaml ‎ergocub_moveit_config/config/ros2_controllers.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/config/sensors_3d.yaml ‎ergocub_moveit_config/config/sensors_3d.yaml

File renamed without changes.

‎xcub_ergocub_moveit_config/launch/demo.launch.py ‎ergocub_moveit_config/launch/demo.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_demo_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/move_group.launch.py ‎ergocub_moveit_config/launch/move_group.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_move_group_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py ‎ergocub_moveit_config/launch/moveit_rviz.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_moveit_rviz_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/rsp.launch.py ‎ergocub_moveit_config/launch/rsp.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_rsp_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/setup_assistant.launch.py ‎ergocub_moveit_config/launch/setup_assistant.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_setup_assistant_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py ‎ergocub_moveit_config/launch/spawn_controllers.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_spawn_controllers_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py ‎ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_static_virtual_joint_tfs_launch(moveit_config)

‎xcub_ergocub_moveit_config/launch/warehouse_db.launch.py ‎ergocub_moveit_config/launch/warehouse_db.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
77
return generate_warehouse_db_launch(moveit_config)

‎xcub_ergocub_moveit_config/package.xml ‎ergocub_moveit_config/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
4-
<name>xcub_ergocub_moveit_config</name>
4+
<name>ergocub_moveit_config</name>
55
<version>0.3.0</version>
66
<description>
77
A ROS2 package with the configuration and launch files for using the ergoCub with the MoveIt Motion Planning Framework

‎xcub_icub_moveit_config/.setup_assistant ‎icub_moveit_config/.setup_assistant

File renamed without changes.

‎xcub_ergocub_moveit_config/CMakeLists.txt ‎icub_moveit_config/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.22)
2-
project(xcub_ergocub_moveit_config)
2+
project(icub_moveit_config)
33

44
find_package(ament_cmake REQUIRED)
55

‎xcub_icub_moveit_config/config/icub.ros2_control.xacro ‎icub_moveit_config/config/icub.ros2_control.xacro

File renamed without changes.

‎xcub_icub_moveit_config/config/icub.srdf ‎icub_moveit_config/config/icub.srdf

File renamed without changes.

‎xcub_icub_moveit_config/config/icub.urdf.xacro ‎icub_moveit_config/config/icub.urdf.xacro

File renamed without changes.

‎xcub_icub_moveit_config/config/initial_positions.yaml ‎icub_moveit_config/config/initial_positions.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/joint_limits.yaml ‎icub_moveit_config/config/joint_limits.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/kinematics.yaml ‎icub_moveit_config/config/kinematics.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/moveit.rviz ‎icub_moveit_config/config/moveit.rviz

File renamed without changes.

‎xcub_icub_moveit_config/config/moveit_controllers.yaml ‎icub_moveit_config/config/moveit_controllers.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/ompl_planning.yaml ‎icub_moveit_config/config/ompl_planning.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml ‎icub_moveit_config/config/pilz_cartesian_limits.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/ros2_controllers.yaml ‎icub_moveit_config/config/ros2_controllers.yaml

File renamed without changes.

‎xcub_icub_moveit_config/config/sensors_3d.yaml ‎icub_moveit_config/config/sensors_3d.yaml

File renamed without changes.

‎xcub_icub_moveit_config/launch/demo.launch.py ‎icub_moveit_config/launch/demo.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_demo_launch(moveit_config)

‎xcub_icub_moveit_config/launch/move_group.launch.py ‎icub_moveit_config/launch/move_group.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_move_group_launch(moveit_config)

‎xcub_icub_moveit_config/launch/moveit_rviz.launch.py ‎icub_moveit_config/launch/moveit_rviz.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_moveit_rviz_launch(moveit_config)

‎xcub_icub_moveit_config/launch/rsp.launch.py ‎icub_moveit_config/launch/rsp.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_rsp_launch(moveit_config)

‎xcub_icub_moveit_config/launch/setup_assistant.launch.py ‎icub_moveit_config/launch/setup_assistant.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_setup_assistant_launch(moveit_config)

‎xcub_icub_moveit_config/launch/spawn_controllers.launch.py ‎icub_moveit_config/launch/spawn_controllers.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_spawn_controllers_launch(moveit_config)

‎xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py ‎icub_moveit_config/launch/static_virtual_joint_tfs.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_static_virtual_joint_tfs_launch(moveit_config)

‎xcub_icub_moveit_config/launch/warehouse_db.launch.py ‎icub_moveit_config/launch/warehouse_db.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,5 +3,5 @@
33

44

55
def generate_launch_description():
6-
moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
6+
moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
77
return generate_warehouse_db_launch(moveit_config)

‎xcub_icub_moveit_config/package.xml ‎icub_moveit_config/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
4-
<name>xcub_icub_moveit_config</name>
4+
<name>icub_moveit_config</name>
55
<version>0.3.0</version>
66
<description>
77
An automatically generated package with all the configuration and launch files for using the iCub with the MoveIt Motion Planning Framework

‎xcub_moveit_all_packages/CMakeLists.txt

+2-2
Original file line numberDiff line numberDiff line change
@@ -8,9 +8,9 @@ project(xcub-moveit2)
88
# so that it will be excluded automatically by the colcon build command
99

1010
# The order of inclusion was taken from colcon graph output
11-
add_subdirectory(../xcub_ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_ergocub_moveit_config)
11+
add_subdirectory(../ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/ergocub_moveit_config)
1212
add_subdirectory(../xcub_moveit_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_grasp)
13-
add_subdirectory(../xcub_icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_icub_moveit_config)
13+
add_subdirectory(../icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/icub_moveit_config)
1414
add_subdirectory(../xcub_ros2_controllers ${CMAKE_CURRENT_BINARY_DIR}/xcub_ros2_controllers)
1515
add_subdirectory(../xcub_moveit_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_robot)
1616
add_subdirectory(../xcub_moveit_test_controller ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_test_controller)

‎xcub_moveit_robot/launch/circle_demo.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ def generate_launch_description():
1717

1818
robot_name = check_robot_name()
1919

20-
moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
20+
moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
2121

2222
circle_demo = Node(
2323
name="xcub_moveit_robot",

‎xcub_moveit_robot/launch/grasp_demo.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ def generate_launch_description():
1717

1818
robot_name = check_robot_name()
1919

20-
moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
20+
moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
2121

2222
grasping_demo = Node(
2323
name="grasping",

‎xcub_moveit_robot/launch/launch_icub.launch.py

+2-2
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,7 @@ def generate_launch_description():
3535
)
3636

3737
rviz2 = ExecuteProcess(
38-
cmd=['ros2', 'launch', 'xcub_icub_moveit_config', 'moveit_rviz.launch.py'],
38+
cmd=['ros2', 'launch', 'icub_moveit_config', 'moveit_rviz.launch.py'],
3939
output='screen'
4040
)
4141

@@ -67,7 +67,7 @@ def generate_launch_description():
6767
)
6868

6969
ros2_controllers_path = os.path.join(
70-
get_package_share_directory("xcub_icub_moveit_config"),
70+
get_package_share_directory("icub_moveit_config"),
7171
"config",
7272
"ros2_controllers.yaml",
7373
)

‎xcub_moveit_robot/launch/robot.launch.py

+5-5
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ def generate_launch_description():
3838
robot_name = check_robot_name()
3939

4040
moveit_config = (
41-
MoveItConfigsBuilder("xcub_"+robot_name)
41+
MoveItConfigsBuilder(robot_name)
4242
.robot_description(file_path="config/"+robot_name+".urdf.xacro")
4343
.robot_description_semantic(file_path="config/"+robot_name+".srdf")
4444
.robot_description_kinematics(file_path="config/kinematics.yaml")
@@ -56,7 +56,7 @@ def generate_launch_description():
5656
{"use_sim_time": False}],
5757
)
5858

59-
robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf")
59+
robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf")
6060
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file}
6161

6262
ompl_planning_pipeline_config = {
@@ -66,10 +66,10 @@ def generate_launch_description():
6666
"start_state_max_bounds_error": 0.1,
6767
}
6868
}
69-
ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml")
69+
ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml")
7070
ompl_planning_pipeline_config["move_group"].update(ompl_planning_file)
7171

72-
moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml")
72+
moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml")
7373
moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file,
7474
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}
7575

@@ -107,7 +107,7 @@ def generate_launch_description():
107107
{"use_sim_time": False}],
108108
)
109109

110-
rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz")
110+
rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz")
111111
rviz2 = Node(
112112
package="rviz2",
113113
executable="rviz2",

‎xcub_moveit_robot/launch/robot_controls.launch.py

+2-2
Original file line numberDiff line numberDiff line change
@@ -21,10 +21,10 @@ def generate_launch_description():
2121

2222
robot_name = check_robot_name()
2323

24-
moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
24+
moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
2525

2626
ros2_controllers_path = os.path.join(
27-
get_package_share_directory("xcub_"+robot_name+"_moveit_config"),
27+
get_package_share_directory(robot_name+"_moveit_config"),
2828
"config",
2929
"ros2_controllers.yaml",
3030
)

‎xcub_moveit_robot/launch/robot_sim.launch.py

+5-5
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ def generate_launch_description():
4444
)
4545

4646
config = (
47-
MoveItConfigsBuilder("xcub_"+robot_name)
47+
MoveItConfigsBuilder(robot_name)
4848
.robot_description(file_path="config/"+robot_name+".urdf.xacro")
4949
.robot_description_semantic(file_path="config/"+robot_name+".srdf")
5050
.robot_description_kinematics(file_path="config/kinematics.yaml")
@@ -69,7 +69,7 @@ def generate_launch_description():
6969
{"use_sim_time": True}],
7070
)
7171

72-
robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf")
72+
robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf")
7373
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file}
7474

7575
ompl_planning_pipeline_config = {
@@ -79,10 +79,10 @@ def generate_launch_description():
7979
"start_state_max_bounds_error": 0.1,
8080
}
8181
}
82-
ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml")
82+
ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml")
8383
ompl_planning_pipeline_config["move_group"].update(ompl_planning_file)
8484

85-
moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml")
85+
moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml")
8686
moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file,
8787
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}
8888

@@ -119,7 +119,7 @@ def generate_launch_description():
119119
{"use_sim_time": True}],
120120
)
121121

122-
rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz")
122+
rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz")
123123
rviz2 = Node(
124124
package="rviz2",
125125
executable="rviz2",

‎xcub_moveit_robot/launch/spawn_model.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@ def main(args=None):
1313

1414
robot_name = os.environ["YARP_ROBOT_NAME"]
1515

16-
xacro_file = os.path.join(get_package_share_directory('xcub_'+robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro')
16+
xacro_file = os.path.join(get_package_share_directory(robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro')
1717
assert os.path.exists(xacro_file)
1818
robot_desc = xacro.process_file(xacro_file)
1919
robot_model = robot_desc.toprettyxml()

‎xcub_moveit_test_controller/launch/test_controller.launch.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ def generate_launch_description():
1717

1818
robot_name = check_robot_name()
1919

20-
moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
20+
moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
2121

2222
xcub_test_controller_node = Node(
2323
name="xcub_moveit_test_controller",

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