adapt to driver changes

kroshu · Nov 10, 2023 · f4341cb · f4341cb
1 parent a87278b
commit f4341cb
Show file tree

Hide file tree

Showing 7 changed files with 12 additions and 12 deletions.
diff --git a/README.md b/README.md
@@ -31,4 +31,4 @@ The following launch file will start the driver with fake hardware, matching rob
 ros2 launch kuka_kr_moveit_config moveit_planning_fake_hardware.launch.py 
 ```
 
-The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (kuka_drivers/kuka_driver_examples)/eci_demo package.)
+The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (kuka_drivers/examples)/iiqka_moveit_example package.)
diff --git a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
@@ -10,12 +10,12 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from rsi_config  -->
-          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config" value="$(find kuka_kss_rsi_driver)/config/rsi_config.yaml" />
           <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
           <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
           <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
 
-          <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
+          <plugin>kuka_kss_rsi_driver::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
         </xacro:unless>

diff --git a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
@@ -10,12 +10,12 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from rsi_config  -->
-          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config" value="$(find kuka_kss_rsi_driver)/config/rsi_config.yaml" />
           <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
           <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
           <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
 
-          <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
+          <plugin>kuka_kss_rsi_driver::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
         </xacro:unless>

diff --git a/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py b/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py
@@ -48,7 +48,7 @@ def launch_setup(context, *args, **kwargs):
         'kuka_kr_moveit_config') + "/config/urdf_planning_scene.rviz"
 
     startup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource(
-        [get_package_share_directory('kuka_rsi_hw_interface'), '/launch/startup.launch.py']),
+        [get_package_share_directory('kuka_kss_rsi_driver'), '/launch/startup.launch.py']),
         launch_arguments={'robot_model': "{}".format(robot_model.perform(context)),
                           'use_fake_hardware': "true"}.items())
 

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro
@@ -10,14 +10,14 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from eci_config  -->
-          <xacro:property name="eci_config" value="$(find kuka_rox_hw_interface)/config/eci_config.yaml" />
+          <xacro:property name="eci_config" value="$(find kuka_iiqka_eac_driver)/config/eci_config.yaml" />
           <xacro:property name="eci_config_dict" value="${xacro.load_yaml(eci_config)}"/>
           <xacro:property name="control_mode" value="${eci_config_dict['robot_manager']['ros__parameters']['control_mode']}" />
           <xacro:property name="client_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['client_ip']}" />
           <xacro:property name="controller_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['controller_ip']}" />
 
           <!-- Read QoS profile parameters  -->
-          <xacro:property name="qos_config" value="$(find kuka_rox_hw_interface)/config/qos_profiles.yaml" />
+          <xacro:property name="qos_config" value="$(find kuka_iiqka_eac_driver)/config/qos_profiles.yaml" />
           <xacro:property name="qos_config_dict" value="${xacro.load_yaml(qos_config)}"/>
           <xacro:property name="consequent_lost_packets" value="${qos_config_dict['rt_packet_loss_profile']['consequent_lost_packets']}" />
           <xacro:property name="lost_packets_in_timeframe" value="${qos_config_dict['rt_packet_loss_profile']['lost_packets_in_timeframe']}" />

diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
@@ -9,7 +9,7 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
-          <plugin>kuka_sunrise::KUKAFRIHardwareInterface</plugin>
+          <plugin>kuka_sunrise_fri_driver::KUKAFRIHardwareInterface</plugin>
         </xacro:unless>
       </hardware>
       <!-- define joints and command/state interfaces for each joint -->
@@ -65,7 +65,7 @@
       <!-- TODO(Svastits): update GPIO list from config file-->
       <xacro:unless value="${use_fake_hardware}">
         <xacro:if value="${io_access}">
-          <xacro:include filename="$(find kuka_sunrise)/config/gpio_config.xacro" />
+          <xacro:include filename="$(find kuka_sunrise_fri_driver)/config/gpio_config.xacro" />
           <xacro:fri_gpio_config/>
         </xacro:if>
         <xacro:unless value="${io_access}">

diff --git a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
@@ -10,12 +10,12 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from rsi_config  -->
-          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config" value="$(find kuka_kss_rsi_driver)/config/rsi_config.yaml" />
           <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
           <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
           <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
 
-          <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
+          <plugin>kuka_kss_rsi_driver::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
         </xacro:unless>