left/right_arm to panda_arm

Airyzf · May 15, 2018 · 3540ae7 · 3540ae7
1 parent c34accf
commit 3540ae7
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Showing 5 changed files with 11 additions and 11 deletions.
diff --git a/doc/kinematics/src/ros_api_tutorial.cpp b/doc/kinematics/src/ros_api_tutorial.cpp
@@ -50,7 +50,7 @@
 
 int main(int argc, char **argv)
 {
-  ros::init(argc, argv, "right_arm_kinematics");
+  ros::init(argc, argv, "panda_arm_kinematics");
   ros::AsyncSpinner spinner(1);
   spinner.start();
 
@@ -70,7 +70,7 @@ int main(int argc, char **argv)
   moveit_msgs::GetPositionIK::Request service_request;
   moveit_msgs::GetPositionIK::Response service_response;
 
-  service_request.ik_request.group_name = "left_arm";
+  service_request.ik_request.group_name = "panda_arm";
   service_request.ik_request.pose_stamped.header.frame_id = "torso_lift_link";
   service_request.ik_request.pose_stamped.pose.position.x = 0.75;
   service_request.ik_request.pose_stamped.pose.position.y = 0.188;
@@ -91,9 +91,9 @@ int main(int argc, char **argv)
   robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
   robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
   robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
-  const robot_state::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("left_arm");
+  const robot_state::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("panda_arm");
 
-  /* Get the names of the joints in the right_arm*/
+  /* Get the names of the joints in the panda_arm*/
   service_request.ik_request.robot_state.joint_state.name = joint_model_group->getJointModelNames();
 
   /* Get the joint values and put them into the message, this is where you could put in your own set of values as

diff --git a/doc/pick_place/src/pick_place_tutorial.cpp b/doc/pick_place/src/pick_place_tutorial.cpp
@@ -170,7 +170,7 @@ void place(moveit::planning_interface::MoveGroupInterface &group)
 
 int main(int argc, char **argv)
 {
-  ros::init(argc, argv, "right_arm_pick_place");
+  ros::init(argc, argv, "panda_arm_pick_place");
   ros::AsyncSpinner spinner(1);
   spinner.start();
 
@@ -180,7 +180,7 @@ int main(int argc, char **argv)
 
   ros::WallDuration(1.0).sleep();
 
-  moveit::planning_interface::MoveGroupInterface group("right_arm");
+  moveit::planning_interface::MoveGroupInterface group("panda_arm");
   group.setPlanningTime(45.0);
 
   moveit_msgs::CollisionObject co;

diff --git a/doc/planning/src/move_group_tutorial.cpp b/doc/planning/src/move_group_tutorial.cpp
@@ -108,7 +108,7 @@ int main(int argc, char **argv)
   /* Get a shared pointer to the model and construct a state */
   robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
   robot_state::RobotState current_state(kinematic_model);
-  current_state.getJointStateGroup("right_arm")->setToRandomValues();
+  current_state.getJointStateGroup("panda_arm")->setToRandomValues();
 
   /* Construct a robot state message */
   moveit_msgs::RobotState robot_state;
@@ -118,7 +118,7 @@ int main(int argc, char **argv)
   moveit_msgs::GetStateValidity::Request get_state_validity_request;
   moveit_msgs::GetStateValidity::Response get_state_validity_response;
   get_state_validity_request.robot_state = robot_state;
-  get_state_validity_request.group_name = "right_arm";
+  get_state_validity_request.group_name = "panda_arm";
 
   /* Service client for checking state validity */
   ros::ServiceClient service_client = node_handle.serviceClient<moveit_msgs::GetStateValidity>("/check_state_validity");
@@ -141,7 +141,7 @@ int main(int argc, char **argv)
     display_publisher.publish(display_state);
 
     /* Generate a new state and put it into the request */
-    current_state.getJointStateGroup("right_arm")->setToRandomValues();
+    current_state.getJointStateGroup("panda_arm")->setToRandomValues();
     robot_state::robotStateToRobotStateMsg(current_state, robot_state);
     get_state_validity_request.robot_state = robot_state;
     sleep_time.sleep();

diff --git a/doc/state_display/src/state_display_tutorial.cpp b/doc/state_display/src/state_display_tutorial.cpp
@@ -68,7 +68,7 @@ int main(int argc, char **argv)
   robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
 
   /* Get the configuration for the joints in the right arm of the Panda*/
-  const robot_model::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("right_arm");
+  const robot_model::JointModelGroup *joint_model_group = kinematic_model->getJointModelGroup("panda_arm");
 
   /* PUBLISH RANDOM ARM POSITIONS */
   ros::NodeHandle nh;

diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst
@@ -78,7 +78,7 @@ A serial chain is specified using the base link and the tip link. The tip link i
 
 Collection of Sub-groups
 """"""""""""""""""""""""
-A group can also be a collection of groups. E.g., you can define the left_arm and right_arm as two groups and then define a new group called both_arms that includes these two groups.
+A group can also be a collection of groups. E.g., you can define the panda_arm and panda_arm as two groups and then define a new group called both_arms that includes these two groups.
 
 End-Effectors
 ^^^^^^^^^^^^^