From 2b5bea1b2089c95defa51a64420334e7768457f7 Mon Sep 17 00:00:00 2001
From: Zachary <zlj19971222@outlook.com>
Date: Mon, 12 Jul 2021 17:28:06 +0800
Subject: [PATCH] fix urdf.

---
 .../mycobot/mycobot_with_vision copy.urdf     |  8 ++---
 .../urdf/mycobot/mycobot_with_vision.urdf     | 30 +++++++++----------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/mycobot_description/urdf/mycobot/mycobot_with_vision copy.urdf b/mycobot_description/urdf/mycobot/mycobot_with_vision copy.urdf
index a75d7f3..2adf18b 100755
--- a/mycobot_description/urdf/mycobot/mycobot_with_vision copy.urdf	
+++ b/mycobot_description/urdf/mycobot/mycobot_with_vision copy.urdf	
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai" >
-	
+
   <xacro:property name="width" value=".2" />
-  <xacro:include filename="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf" />
+  <xacro:include filename="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf" />
 
 
   <link name="env">
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/210110_6000_001_asm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/210110_6000_001_asm.dae"/>
       </geometry>
       <origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
     </visual>
@@ -22,7 +22,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="joint1"/>
     <child link="env"/>
-    <origin xyz= "0 0 0" rpy = "0 0 0"/>  
+    <origin xyz= "0 0 0" rpy = "0 0 0"/>
   </joint>
 
 </robot>
diff --git a/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf b/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
index 344cf21..e396561 100755
--- a/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
+++ b/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
@@ -6,7 +6,7 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/210110_6000_001_asm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/210110_6000_001_asm.dae"/>
       </geometry>
       <origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
     </visual>
@@ -16,14 +16,14 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint1.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint1.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
         </geometry>
         <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -32,13 +32,13 @@
   <link name="joint2">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint2.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint2.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -48,13 +48,13 @@
   <link name="joint3">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint3.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
       </geometry>
     <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint3.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -65,14 +65,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint4.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint4.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -83,14 +83,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint5.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
     </visual>
     <collision>
        <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint5.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
     </collision>
@@ -101,14 +101,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint6.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
       </geometry>
     <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint6.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
       </geometry>
     <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </collision>
@@ -119,14 +119,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint7.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/mycobot/joint7.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </collision>