start iiwa renamings (not working yet)

kroshu · Nov 9, 2023 · 4fdda0f · 4fdda0f
1 parent 74fdd37
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diff --git a/README.md b/README.md
@@ -14,7 +14,7 @@ Github CI
 - **kuka_lbr_iisy_support** contains urdf, config and mesh files for KUKA iisy robots.
 - **kuka_lbr_iisy_moveit_config** contains configuration files for KUKA iisy robots necessary for planning with moveit.
 - **kuka_agilus_support** contains urdf, config and mesh files for KUKA Agilus robots, it is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and ported to ROS2.
-- **kuka_lbr_iiwa7_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots
+- **kuka_lbr_iiwa_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots
 - **kuka_rsi_simulator** implements a basic RSI simulator. It is also copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and is ported to ROS2. It implements a UDP socket, and recieves the commands from an RSI interface and sends back the actual position of the robot (as it is a simulation, it is a simple closed loop, it sends what it recieved).
 
 ## Running the RSI simulator

diff --git a/..._support/launch/test_lbr11r1300.launch.py → ...rt/launch/test_lbr_iisy11_r1300.launch.py b/..._support/launch/test_lbr11r1300.launch.py → ...rt/launch/test_lbr_iisy11_r1300.launch.py
diff --git a/...y_support/launch/test_lbr15r930.launch.py → ...ort/launch/test_lbr_iisy15_r930.launch.py b/...y_support/launch/test_lbr15r930.launch.py → ...ort/launch/test_lbr_iisy15_r930.launch.py
diff --git a/...sy_support/launch/test_lbr3r760.launch.py → ...port/launch/test_lbr_iisy3_r760.launch.py b/...sy_support/launch/test_lbr3r760.launch.py → ...port/launch/test_lbr_iisy3_r760.launch.py
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro
@@ -18,7 +18,7 @@
 <xacro:property name="timeframe_ms" value="${qos_config_dict['rt_packet_loss_profile']['timeframe_ms']}" />
 
 
-<xacro:kuka_lbr11_r1300_robot prefix=""
+<xacro:kuka_lbr_iisy11_r1300_robot prefix=""
                   client_ip="${client_ip}" 
                   controller_ip="${controller_ip}" 
                   control_mode="${control_mode}"

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro
@@ -5,7 +5,7 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_transmission.xacro" />
 
-  <xacro:macro name="kuka_lbr11_r1300_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
+  <xacro:macro name="kuka_lbr_iisy11_r1300_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
     name="lbr_iisy11_r1300" 

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro
@@ -18,7 +18,7 @@
 <xacro:property name="timeframe_ms" value="${qos_config_dict['rt_packet_loss_profile']['timeframe_ms']}" />
 
 
-<xacro:kuka_lbr15_r930_robot prefix=""
+<xacro:kuka_lbr_iisy15_r930_robot prefix=""
                   client_ip="${client_ip}" 
                   controller_ip="${controller_ip}" 
                   control_mode="${control_mode}"

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro
@@ -5,7 +5,7 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_transmission.xacro" />
 
-  <xacro:macro name="kuka_lbr15_r930_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
+  <xacro:macro name="kuka_lbr_iisy15_r930_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
     name="lbr_iisy15_r930" 

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro
@@ -20,7 +20,7 @@
 <!-- Read additional arguments  -->
 <xacro:arg name="use_fake_hardware" default="false" />
 
-<xacro:kuka_lbr3_r760_robot prefix=""
+<xacro:kuka_lbr_iisy3_r760_robot prefix=""
                   client_ip="${client_ip}" 
                   controller_ip="${controller_ip}" 
                   control_mode="${control_mode}"

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro
@@ -5,7 +5,7 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_transmission.xacro" />
 
-  <xacro:macro name="kuka_lbr3_r760_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms use_fake_hardware:=false">
+  <xacro:macro name="kuka_lbr_iisy3_r760_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms use_fake_hardware:=false">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
     name="lbr_iisy3_r760" 

diff --git a/kuka_lbr_iiwa7_support/launch/full.launch.py b/kuka_lbr_iiwa7_support/launch/full.launch.py
diff --git a/kuka_lbr_iiwa7_support/launch/rviz.launch.py b/kuka_lbr_iiwa7_support/launch/rviz.launch.py
diff --git a/kuka_lbr_iiwa7_support/urdf/lbriiwa7.xacro b/kuka_lbr_iiwa7_support/urdf/lbriiwa7.xacro
diff --git a/kuka_lbr_iiwa7_support/CMakeLists.txt → kuka_lbr_iiwa_support/CMakeLists.txt b/kuka_lbr_iiwa7_support/CMakeLists.txt → kuka_lbr_iiwa_support/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(kuka_lbr_iiwa7_support)
+project(kuka_lbr_iiwa_support)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)