change arm's name

unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
-        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
+    <xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
 
-        <ros2_control name="${device_name}benyao_arm" type="system">
+        <ros2_control name="${device_name}arm_slider" type="system">
             <hardware>
                 <!-- By default, set up controllers for simulation. This won't work on real hardware -->
                 <plugin>mock_components/GenericSystem</plugin>

unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro

@@ -4,7 +4,7 @@
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:macro name="benyao_arm_srdf" params="device_name">
+    <xacro:macro name="arm_slider_srdf" params="device_name">
         <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
         <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
         <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->

unilabos/device_mesh/devices/arm_slider/macro_device.xacro

@@ -1,9 +1,9 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
 
-  <xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+  <xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
     <!-- Read .yaml files from disk, load content into properties -->
-    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
 
     <!-- Extract subsections from yaml dictionaries -->
     <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
@@ -40,7 +40,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
         </geometry>
         <material name="">
           <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
@@ -49,7 +49,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
         </geometry>
       </collision>
     </link>
@@ -75,7 +75,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -84,7 +84,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
         </geometry>
       </collision>
     </link>
@@ -98,7 +98,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -107,7 +107,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
         </geometry>
       </collision>
     </link>
@@ -131,7 +131,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -140,7 +140,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
         </geometry>
       </collision>
     </link>
@@ -164,7 +164,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -173,7 +173,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
         </geometry>
       </collision>
     </link>
@@ -197,7 +197,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -206,7 +206,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
         </geometry>
       </collision>
     </link>
@@ -230,7 +230,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -239,7 +239,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
         </geometry>
       </collision>
     </link>
@@ -263,7 +263,7 @@
       <visual>
         <origin rpy="0 3.1416 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -272,7 +272,7 @@
       <collision>
         <origin rpy="0 3.1416 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
         </geometry>
       </collision>
     </link>