Robotiq product identifier names modification to comply with the real product names, as asked by Robotiq.

Author: jproberge

robotiq/package.xml

@@ -8,11 +8,11 @@
   <url type="website">http://ros.org/wiki/robotiq</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <exec_depend>robotiq_s_model_visualization</exec_depend>
+  <exec_depend>robotiq_3f_gripper_visualization</exec_depend>
   <exec_depend>robotiq_modbus_tcp</exec_depend>
-  <exec_depend>robotiq_s_model_control</exec_depend>
-  <exec_depend>robotiq_c_model_control</exec_depend>
-  <exec_depend>robotiq_force_torque_sensor</exec_depend>
+  <exec_depend>robotiq_3f_gripper_control</exec_depend>
+  <exec_depend>robotiq_2f_gripper_control</exec_depend>
+  <exec_depend>robotiq_ft_sensor</exec_depend>
 
   <export>
     <metapackage/>

robotiq_arg2f_model_visualization/CMakeLists.txt renamed to robotiq_2f_140_gripper_visualization/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(robotiq_arg2f_model_visualization)
+project(robotiq_2f_140_gripper_visualization)
 find_package(catkin REQUIRED)
 catkin_package()
 

robotiq_arg2f_model_visualization/launch/test_robotiq_arg_2f_140_model.launch renamed to robotiq_2f_140_gripper_visualization/launch/test_robotiq_arg_2f_140_model.launch

@@ -2,9 +2,9 @@
 
 <launch>
   <arg name="gui" default="True" />
-  <param name="robot_description" command="$(find xacro)/xacro $(find robotiq_arg2f_model_visualization)/urdf/robotiq_arg2f_140_model.xacro" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_140_model.xacro" />
   <param name="use_gui" value="$(arg gui)"/>
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robotiq_arg2f_model_visualization)/visualize.rviz" required="true" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robotiq_2f_140_gripper_visualization)/visualize.rviz" required="true" />
 </launch>

robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_140_inner_finger.stl renamed to robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_140_inner_finger.stl

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>robotiq_arg2f_model_visualization</name>
+  <name>robotiq_2f_140_gripper_visualization</name>
   <version>1.0.0</version>
   <description>Robotiq ARG 2-Finger 140mm model</description>
   <license>BSD</license>

robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_140_inner_knuckle.stl renamed to robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_140_inner_knuckle.stl

@@ -10,7 +10,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_base_link_fine.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_base_link_fine.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -19,7 +19,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 ${pi / 2}" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_base_link_coarse.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_base_link_coarse.stl" />
         </geometry>
       </collision>
     </link>

robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_140_outer_finger.stl renamed to robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_140_outer_finger.stl

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
 <robot name="robotiq_arg2f_140_model" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find robotiq_arg2f_model_visualization)/urdf/robotiq_arg2f_140_model_macro.xacro" />
+  <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_140_model_macro.xacro" />
   <xacro:robotiq_arg2f_140 prefix=""/>
 </robot>

robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_140_outer_knuckle.stl renamed to robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_140_outer_knuckle.stl

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find robotiq_arg2f_model_visualization)/urdf/robotiq_arg2f_transmission.xacro" />
+  <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" />
 
   <xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
     <link name="${prefix}${fingerprefix}_outer_knuckle">
@@ -18,7 +18,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
         </geometry>
         <material name="">
           <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -27,7 +27,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
         </geometry>
       </collision>
     </link>
@@ -49,7 +49,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_outer_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_finger.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -58,7 +58,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_outer_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_outer_finger.stl" />
         </geometry>
       </collision>
     </link>
@@ -80,7 +80,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -89,7 +89,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
         </geometry>
       </collision>
     </link>
@@ -111,7 +111,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_inner_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_finger.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -120,7 +120,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_${stroke}_inner_finger.stl" />
+          <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_${stroke}_inner_finger.stl" />
         </geometry>
       </collision>
     </link>
@@ -157,7 +157,7 @@
     </joint>
   </xacro:macro>
 
-  <xacro:include filename="$(find robotiq_arg2f_model_visualization)/urdf/robotiq_arg2f.xacro" />
+  <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.xacro" />
 
   <xacro:macro name="finger_joint" params="prefix">
     <joint name="${prefix}finger_joint" type="revolute">

robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_base_link_coarse.stl renamed to robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_base_link_coarse.stl

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(robotiq_c2_model_visualization)
+project(robotiq_2f_c2_gripper_visualization)
 
 find_package(catkin REQUIRED)
 

robotiq_arg2f_model_visualization/meshes/robotiq_arg2f_base_link_fine.stl renamed to robotiq_2f_140_gripper_visualization/meshes/robotiq_arg2f_base_link_fine.stl

@@ -2,9 +2,9 @@
 
 <launch>
   <arg name="gui" default="True" />
-  <param name="robot_description" command="$(find xacro)/xacro $(find robotiq_c2_model_visualization)/urdf/robotiq_c2_model.xacro" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find robotiq_2f_c2_gripper_visualization)/urdf/robotiq_c2_model.xacro" />
   <param name="use_gui" value="$(arg gui)"/>
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robotiq_c2_model_visualization)/visualize.rviz" required="true" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robotiq_2f_c2_gripper_visualization)/visualize.rviz" required="true" />
 </launch>

robotiq_arg2f_model_visualization/package.xml renamed to robotiq_2f_140_gripper_visualization/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>robotiq_c2_model_visualization</name>
+  <name>robotiq_2f_c2_gripper_visualization</name>
   <version>1.0.0</version>
   <description>
     <p>

robotiq_arg2f_model_visualization/urdf/robotiq_arg2f.xacro renamed to robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro

@@ -4,20 +4,20 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <!-- 
-    Please note that the base link of the c_model gripper is
+    Please note that the base link of the 2f gripper is
     "${prefix}robotiq_85_adapter_link"
  -->
 <robot name="robotiq_c2_model" xmlns:xacro="http://ros.org/wiki/xacro">
   <link name="robotiq_85_adapter_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_adapter_plate.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_adapter_plate.dae"/>
       </geometry>
       <origin rpy="1.5707 0 1.5707" xyz="0 0 0"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_adapter_plate.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_adapter_plate.dae"/>
       </geometry>
       <origin rpy="0 0 1.5707" xyz="0 0 0"/>
     </collision>
@@ -31,13 +31,13 @@
   <link name="robotiq_85_base_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_base.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_base.dae"/>
       </geometry>
       <origin rpy="3.1415 0 1.5707" xyz="0 0 0"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_base.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_base.dae"/>
       </geometry>
       <origin rpy="1.5707 0 1.5707" xyz="0 0 0"/>
     </collision>
@@ -60,27 +60,27 @@
   <link name="robotiq_85_left_knuckle_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_0_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_0_L.dae"/>
       </geometry>
       <origin rpy="3.14159 -1.5707 0" xyz="0 .04191 -.0306"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_0_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_0_L.dae"/>
       </geometry>
       <origin rpy="1.5707 -1.5707 0" xyz="0 .04191 -.0306"/>
     </collision>
   </link>
   <link name="robotiq_85_right_knuckle_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_0_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_0_R.dae"/>
       </geometry>
       <origin rpy="3.14159 1.5707 0" xyz="0 .04191 -.0306"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_0_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_0_R.dae"/>
       </geometry>
       <origin rpy="1.5707 1.5707 0" xyz="0 .04191 -.0306"/>
     </collision>
@@ -102,27 +102,27 @@
   <link name="robotiq_85_left_finger_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_1_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_1_L.dae"/>
       </geometry>
       <origin rpy="0 1.5707 0" xyz="0 -.03683 .06194"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_1_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_1_L.dae"/>
       </geometry>
       <origin rpy="-1.5707 1.5707 0" xyz="0 -.03683 .06194"/>
     </collision>
   </link>
   <link name="robotiq_85_right_finger_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_1_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_1_R.dae"/>
       </geometry>
       <origin rpy="0 -1.5707 0" xyz="0 -.03683 .06194"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_1_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_1_R.dae"/>
       </geometry>
       <origin rpy="-1.5707 -1.5707 0" xyz="0 -.03683 .06194"/>
     </collision>
@@ -146,27 +146,27 @@
   <link name="robotiq_85_left_inner_knuckle_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_2_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_2_L.dae"/>
       </geometry>
       <origin rpy="0 1.5707 0" xyz="0 -.04843 .0127"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_2_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_2_L.dae"/>
       </geometry>
       <origin rpy="-1.5707 1.5707 0" xyz="0 -.04843 .0127"/>
     </collision>
   </link>
   <link name="robotiq_85_right_inner_knuckle_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_2_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_2_R.dae"/>
       </geometry>
       <origin rpy="0 -1.5707 0" xyz="0 -.04843 .0127"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_2_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_2_R.dae"/>
       </geometry>
       <origin rpy="-1.5707 -1.5707 0" xyz="0 -.04843 .0127"/>
     </collision>
@@ -190,27 +190,27 @@
   <link name="robotiq_85_left_finger_tip_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_3_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_3_L.dae"/>
       </geometry>
       <origin rpy="0 1.5707 0" xyz="0 -.090381 .051505"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_3_L.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_3_L.dae"/>
       </geometry>
       <origin rpy="-1.5707 1.5707 0" xyz="0 -.090381 .051505"/>
     </collision>
   </link>
   <link name="robotiq_85_right_finger_tip_link">
     <visual>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_3_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/visual/robotiq_85_gripper_joint_3_R.dae"/>
       </geometry>
       <origin rpy="0 -1.5707 0" xyz="0 -.090381 .051505"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://robotiq_c2_model_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_3_R.dae"/>
+        <mesh filename="package://robotiq_2f_c2_gripper_visualization/meshes/robotiq_c2/collision/robotiq_85_gripper_joint_3_R.dae"/>
       </geometry>
       <origin rpy="-1.5707 -1.5707 0" xyz="0 -.090381 .051505"/>
     </collision>

robotiq_arg2f_model_visualization/urdf/robotiq_arg2f_140_model.xacro renamed to robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model.xacro

@@ -1,11 +1,11 @@
 <?xml version="1.0" ?>
 
 <!-- 
-    Please note that the base link of the c_model gripper is
+    Please note that the base link of the 2f gripper is
     "${prefix}robotiq_85_adapter_link"
  -->
 
 <robot name="robotiq_c2_model" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="$(find robotiq_c2_model_visualization)/urdf/robotiq_c2_model_macro.xacro" />
+    <xacro:include filename="$(find robotiq_2f_c2_gripper_visualization)/urdf/robotiq_c2_model_macro.xacro" />
     <xacro:robotiq_c2_model prefix=""/>
-</robot>
+</robot>