Remove xcub prefix from icub/ergocub config packages

README.md

@@ -152,11 +152,11 @@ or, for simulated models:
 export YARP_ROBOT_NAME="iCubGazeboV2_5"
 ```
 
-### xcub_icub_moveit_config
+### icub_moveit_config
 
 This package contains the configuration files to make iCub working with MoveIt2. In particular, each of the parts of iCub robot (head, left_arm, right_arm, torso, left_leg and right_leg) are defined in terms of `planning group`, and for each of them a ros2_control of type `FollowJointTrajectory` is set.
 
-### xcub_ergocub_moveit_config
+### ergocub_moveit_config
 
 It contains the same information described in the previous paragraph, but customized with ergoCub specs.
 

xcub_icub_moveit_config/CMakeLists.txt → ergocub_moveit_config/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(xcub_icub_moveit_config)
+project(ergocub_moveit_config)
 
 find_package(ament_cmake REQUIRED)
 

xcub_ergocub_moveit_config/launch/demo.launch.py → ergocub_moveit_config/launch/demo.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_demo_launch(moveit_config)

xcub_ergocub_moveit_config/launch/move_group.launch.py → ergocub_moveit_config/launch/move_group.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_move_group_launch(moveit_config)

xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py → ergocub_moveit_config/launch/moveit_rviz.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)

xcub_ergocub_moveit_config/launch/rsp.launch.py → ergocub_moveit_config/launch/rsp.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_rsp_launch(moveit_config)

xcub_ergocub_moveit_config/launch/setup_assistant.launch.py → ergocub_moveit_config/launch/setup_assistant.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_setup_assistant_launch(moveit_config)

xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py → ergocub_moveit_config/launch/spawn_controllers.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_spawn_controllers_launch(moveit_config)

xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py → ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_static_virtual_joint_tfs_launch(moveit_config)

xcub_ergocub_moveit_config/launch/warehouse_db.launch.py → ergocub_moveit_config/launch/warehouse_db.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs()
     return generate_warehouse_db_launch(moveit_config)

xcub_ergocub_moveit_config/package.xml → ergocub_moveit_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>xcub_ergocub_moveit_config</name>
+  <name>ergocub_moveit_config</name>
   <version>0.3.0</version>
   <description>
      A ROS2 package with the configuration and launch files for using the ergoCub with the MoveIt Motion Planning Framework

xcub_ergocub_moveit_config/CMakeLists.txt → icub_moveit_config/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(xcub_ergocub_moveit_config)
+project(icub_moveit_config)
 
 find_package(ament_cmake REQUIRED)
 

xcub_icub_moveit_config/launch/demo.launch.py → icub_moveit_config/launch/demo.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_demo_launch(moveit_config)

xcub_icub_moveit_config/launch/move_group.launch.py → icub_moveit_config/launch/move_group.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_move_group_launch(moveit_config)

xcub_icub_moveit_config/launch/moveit_rviz.launch.py → icub_moveit_config/launch/moveit_rviz.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)

xcub_icub_moveit_config/launch/rsp.launch.py → icub_moveit_config/launch/rsp.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_rsp_launch(moveit_config)

xcub_icub_moveit_config/launch/setup_assistant.launch.py → icub_moveit_config/launch/setup_assistant.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_setup_assistant_launch(moveit_config)

xcub_icub_moveit_config/launch/spawn_controllers.launch.py → icub_moveit_config/launch/spawn_controllers.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_spawn_controllers_launch(moveit_config)

xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py → icub_moveit_config/launch/static_virtual_joint_tfs.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_static_virtual_joint_tfs_launch(moveit_config)

xcub_icub_moveit_config/launch/warehouse_db.launch.py → icub_moveit_config/launch/warehouse_db.launch.py

@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs()
     return generate_warehouse_db_launch(moveit_config)

xcub_icub_moveit_config/package.xml → icub_moveit_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>xcub_icub_moveit_config</name>
+  <name>icub_moveit_config</name>
   <version>0.3.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the iCub with the MoveIt Motion Planning Framework

xcub_moveit_all_packages/CMakeLists.txt

@@ -8,9 +8,9 @@ project(xcub-moveit2)
 # so that it will be excluded automatically by the colcon build command
 
 # The order of inclusion was taken from colcon graph output
-add_subdirectory(../xcub_ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_ergocub_moveit_config)
+add_subdirectory(../ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/ergocub_moveit_config)
 add_subdirectory(../xcub_moveit_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_grasp)
-add_subdirectory(../xcub_icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_icub_moveit_config)
+add_subdirectory(../icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/icub_moveit_config)
 add_subdirectory(../xcub_ros2_controllers ${CMAKE_CURRENT_BINARY_DIR}/xcub_ros2_controllers)
 add_subdirectory(../xcub_moveit_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_robot)
 add_subdirectory(../xcub_moveit_test_controller ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_test_controller)

xcub_moveit_robot/launch/circle_demo.launch.py

@@ -17,7 +17,7 @@ def generate_launch_description():
 
     robot_name = check_robot_name()
 
-    moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
 
     circle_demo = Node(
         name="xcub_moveit_robot",

xcub_moveit_robot/launch/grasp_demo.launch.py

@@ -17,7 +17,7 @@ def generate_launch_description():
 
     robot_name = check_robot_name()
 
-    moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
 
     grasping_demo = Node(
         name="grasping",

xcub_moveit_robot/launch/launch_icub.launch.py

@@ -35,7 +35,7 @@ def generate_launch_description():
     )
 
     rviz2 = ExecuteProcess(
-        cmd=['ros2', 'launch', 'xcub_icub_moveit_config', 'moveit_rviz.launch.py'],
+        cmd=['ros2', 'launch', 'icub_moveit_config', 'moveit_rviz.launch.py'],
         output='screen'
     )
 
@@ -67,7 +67,7 @@ def generate_launch_description():
     )
 
     ros2_controllers_path = os.path.join(
-        get_package_share_directory("xcub_icub_moveit_config"),
+        get_package_share_directory("icub_moveit_config"),
         "config",
         "ros2_controllers.yaml",
     )

xcub_moveit_robot/launch/robot.launch.py

@@ -38,7 +38,7 @@ def generate_launch_description():
     robot_name = check_robot_name()
 
     moveit_config = (
-        MoveItConfigsBuilder("xcub_"+robot_name)
+        MoveItConfigsBuilder(robot_name)
         .robot_description(file_path="config/"+robot_name+".urdf.xacro")
         .robot_description_semantic(file_path="config/"+robot_name+".srdf")
         .robot_description_kinematics(file_path="config/kinematics.yaml")
@@ -56,7 +56,7 @@ def generate_launch_description():
                     {"use_sim_time": False}],
     )
 
-    robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf")
+    robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf")
     robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file}
 
     ompl_planning_pipeline_config = {
@@ -66,10 +66,10 @@ def generate_launch_description():
             "start_state_max_bounds_error": 0.1,
         }
     }
-    ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml")
+    ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml")
     ompl_planning_pipeline_config["move_group"].update(ompl_planning_file)
 
-    moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml")
+    moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml")
     moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file,
                           "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}
 
@@ -107,7 +107,7 @@ def generate_launch_description():
                     {"use_sim_time": False}],
     )
 
-    rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz")
+    rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz")
     rviz2 = Node(
         package="rviz2",
         executable="rviz2",

xcub_moveit_robot/launch/robot_controls.launch.py

@@ -21,10 +21,10 @@ def generate_launch_description():
 
     robot_name = check_robot_name()
 
-    moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
 
     ros2_controllers_path = os.path.join(
-        get_package_share_directory("xcub_"+robot_name+"_moveit_config"),
+        get_package_share_directory(robot_name+"_moveit_config"),
         "config",
         "ros2_controllers.yaml",
     )

xcub_moveit_robot/launch/robot_sim.launch.py

@@ -44,7 +44,7 @@ def generate_launch_description():
     )
 
     config = (
-        MoveItConfigsBuilder("xcub_"+robot_name)
+        MoveItConfigsBuilder(robot_name)
         .robot_description(file_path="config/"+robot_name+".urdf.xacro")
         .robot_description_semantic(file_path="config/"+robot_name+".srdf")
         .robot_description_kinematics(file_path="config/kinematics.yaml")
@@ -69,7 +69,7 @@ def generate_launch_description():
                     {"use_sim_time": True}],
     )
 
-    robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf")
+    robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf")
     robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file}
 
     ompl_planning_pipeline_config = {
@@ -79,10 +79,10 @@ def generate_launch_description():
             "start_state_max_bounds_error": 0.1,
         }
     }
-    ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml")
+    ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml")
     ompl_planning_pipeline_config["move_group"].update(ompl_planning_file)
 
-    moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml")
+    moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml")
     moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file,
                           "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}
 
@@ -119,7 +119,7 @@ def generate_launch_description():
                     {"use_sim_time": True}],
     )
 
-    rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz")
+    rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz")
     rviz2 = Node(
         package="rviz2",
         executable="rviz2",

xcub_moveit_robot/launch/spawn_model.py

@@ -13,7 +13,7 @@ def main(args=None):
 
     robot_name = os.environ["YARP_ROBOT_NAME"]
 
-    xacro_file = os.path.join(get_package_share_directory('xcub_'+robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro')
+    xacro_file = os.path.join(get_package_share_directory(robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro')
     assert os.path.exists(xacro_file)
     robot_desc = xacro.process_file(xacro_file)
     robot_model = robot_desc.toprettyxml()

xcub_moveit_test_controller/launch/test_controller.launch.py

@@ -17,7 +17,7 @@ def generate_launch_description():
 
     robot_name = check_robot_name()
 
-    moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs()
 
     xcub_test_controller_node = Node(
         name="xcub_moveit_test_controller",