Fix small errors in launch files (lbr-iiwa).

yyb-smile · Feb 28, 2023 · 8fdd38d · 8fdd38d
1 parent 1a82027
commit 8fdd38d
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/Kuka/LBRiiwa/iiwa_ros2_moveit2/launch/iiwa.launch.py b/Kuka/LBRiiwa/iiwa_ros2_moveit2/launch/iiwa.launch.py
@@ -149,7 +149,7 @@ def generate_launch_description():
     doc = xacro.parse(open(xacro_file))
     xacro.process_doc(doc, mappings={
         "cell_layout_1": cell_layout_1,
-        # "cell_layout_2": cell_layout_2,
+        "cell_layout_2": cell_layout_2,
         "EE_no": EE_no,
         # "EE_**": EE_**,
         })

diff --git a/Kuka/LBRiiwa/iiwa_ros2_moveit2/launch/iiwa_interface.launch.py b/Kuka/LBRiiwa/iiwa_ros2_moveit2/launch/iiwa_interface.launch.py
@@ -280,9 +280,9 @@ def generate_launch_description():
     # *********************** ROS2.0 Robot/End-Effector Actions/Triggers *********************** #
     # MoveJ ACTION:
     moveJ_interface = Node(
-        name="moveJ_action",
+        name="moveJs_action",
         package="ros2_actions",
-        executable="moveJ_action",
+        executable="moveJs_action",
         output="screen",
         parameters=[robot_description, robot_description_semantic, kinematics_yaml, {"ROB_PARAM": 'iiwa_arm'}],
     )
@@ -312,9 +312,9 @@ def generate_launch_description():
     )
     # MoveR ACTION:
     moveR_interface = Node(
-        name="moveR_action",
+        name="moveRs_action",
         package="ros2_actions",
-        executable="moveR_action",
+        executable="moveRs_action",
         output="screen",
         parameters=[robot_description, robot_description_semantic, kinematics_yaml, {"ROB_PARAM": 'iiwa_arm'}],
     )