update controller name

Signed-off-by: Paul Gesel <[email protected]>
PickNikRobotics · Jan 23, 2024 · 7ae8298 · 7ae8298
1 parent fbe07a2
commit 7ae8298
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/picknik_ur_gazebo_config/config/moveit/ur_servo.yaml b/src/picknik_ur_gazebo_config/config/moveit/ur_servo.yaml
@@ -53,7 +53,7 @@ cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian t
 joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
 joint_topic: /joint_states
 status_topic: ~/status # Publish status to this topic
-command_out_topic: /streaming_controller/joint_trajectory # Publish outgoing commands here
+command_out_topic: /robot_controllers/joint_trajectory # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?

diff --git a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
@@ -177,7 +177,7 @@
       <parameters>$(find picknik_ur_gazebo_config)/config/control/picknik_ur5e.ros2_control.yaml</parameters>
       <ros>
         <remapping>/streaming_controller/commands:=/robot_controllers/commands</remapping>
-        <remapping>/joint_trajectory_controller/joint_trajectory:=/robot_controllers/joint_trajectory</remapping>
+        <remapping>/streaming_controller/joint_trajectory:=/robot_controllers/joint_trajectory</remapping>
       </ros>
     </plugin>
   </gazebo>