From 2ff64200ce3b0b0a4575b636f399be81c9fbf880 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20J=C3=BClg?= <christian.juelg@optonic.com>
Date: Wed, 9 Aug 2023 13:20:34 +0200
Subject: [PATCH] apply suggestions by gavanderhoorn, fix HC10DTP-B00 model
 name

---
 .../launch/robot_interface_streaming_hc10dtp_b00.launch     | 2 +-
 .../launch/robot_state_visualize_hc10dtp_b00.launch         | 2 +-
 motoman_hc10_support/package.xml                            | 6 +++---
 motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro           | 2 ++
 4 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/motoman_hc10_support/launch/robot_interface_streaming_hc10dtp_b00.launch b/motoman_hc10_support/launch/robot_interface_streaming_hc10dtp_b00.launch
index 91a1e3ac..511e46c9 100644
--- a/motoman_hc10_support/launch/robot_interface_streaming_hc10dtp_b00.launch
+++ b/motoman_hc10_support/launch/robot_interface_streaming_hc10dtp_b00.launch
@@ -1,7 +1,7 @@
 <!--
   Manipulator specific version of 'robot_interface_streaming.launch'.
 
-  Defaults provided for HC10DTP IP67 (B10):
+  Defaults provided for HC10DTP IP67 (B00):
    - 6 joints
 
   Usage:
diff --git a/motoman_hc10_support/launch/robot_state_visualize_hc10dtp_b00.launch b/motoman_hc10_support/launch/robot_state_visualize_hc10dtp_b00.launch
index 419954f6..cec29ba6 100644
--- a/motoman_hc10_support/launch/robot_state_visualize_hc10dtp_b00.launch
+++ b/motoman_hc10_support/launch/robot_state_visualize_hc10dtp_b00.launch
@@ -1,7 +1,7 @@
 <!--
   Manipulator specific version of the state visualizer.
 
-  Defaults provided for HC10DTP IP67 (B10):
+  Defaults provided for HC10DTP IP67 (B00):
    - 6 joints
 
   Usage:
diff --git a/motoman_hc10_support/package.xml b/motoman_hc10_support/package.xml
index 45102eee..6799325b 100644
--- a/motoman_hc10_support/package.xml
+++ b/motoman_hc10_support/package.xml
@@ -8,7 +8,7 @@
     <p>
       This package contains configuration data, 3D models and launch files
       for Motoman HC10 manipulators. This currently includes the base model
-      and the DT variant.
+      and the DT and DTP variants.
     </p>
     <p>
       <b>Specifications</b>
@@ -17,7 +17,7 @@
       <li>HC10 - model 1-06VXHC10-A0*</li>
       <li>HC10DT - model 1-06VXHC10-A1*</li>
       <li>HC10DT-B10 - model 1-06VXHC10-B1*</li>
-	  <li>HC10DT-B10 - model 1-06VXCP10-B0*</li>
+      <li>HC10DTP-B00 - model 1-06VXCP10-B0*</li>
    </ul>
     <p>
       Joint limits and maximum joint velocities are based on the information 
@@ -33,7 +33,7 @@
       <li><em>YASKAWA MOTOMAN-HC10DT INSTRUCTIONS DUST-PROOF/DRIP-PROOF (HW1485083)</em> version
         <em>188669-1CD, rev 1</em>.
       </li>
-	  <li><em>YASKAWA MOTOMAN-HC10DTP INSTRUCTIONS DUST-PROOF/DRIP-PROOF (HW2480392)</em> version
+      <li><em>YASKAWA MOTOMAN-HC10DTP INSTRUCTIONS DUST-PROOF/DRIP-PROOF (HW2480392)</em> version
         <em>193887-1CD, rev 1</em>.
       </li>
     </ul>
diff --git a/motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro b/motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro
index 66f2c631..a7092f72 100644
--- a/motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro
+++ b/motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro
@@ -85,12 +85,14 @@
     <link name="${prefix}link_6_t">
       <visual>
         <geometry>
+          <!-- HC10 DTP reuses HC10DT-B10 meshes of all links, except for link 6 (T) -->
           <mesh filename="package://motoman_hc10_support/meshes/hc10dtp_b00/visual/link_6_t.dae"/>
         </geometry>
         <xacro:material_yaskawa_blue/>
       </visual>
       <collision>
         <geometry>
+          <!-- HC10 DTP reuses HC10DT-B10 meshes of all links, except for link 6 (T) -->
           <mesh filename="package://motoman_hc10_support/meshes/hc10dtp_b00/collision/link_6_t.stl"/>
        </geometry>
       </collision>