Correct launchfiles to use tf_prefix URDF argument, and ros_gz_sim pa…

…ckage name. (UniversalRobots#13)

Co-authored-by: Felix Exner <[email protected]>

ur_simulation_gz/launch/ur_sim_control.launch.py

@@ -58,7 +58,7 @@ def launch_setup(context, *args, **kwargs):
     # General arguments
     runtime_config_package = LaunchConfiguration("runtime_config_package")
     controllers_file = LaunchConfiguration("controllers_file")
-    prefix = LaunchConfiguration("prefix")
+    tf_prefix = LaunchConfiguration("tf_prefix")
     activate_joint_controller = LaunchConfiguration("activate_joint_controller")
     initial_joint_controller = LaunchConfiguration("initial_joint_controller")
     description_file = LaunchConfiguration("description_file")
@@ -91,8 +91,8 @@ def launch_setup(context, *args, **kwargs):
             "ur_type:=",
             ur_type,
             " ",
-            "prefix:=",
-            prefix,
+            "tf_prefix:=",
+            tf_prefix,
             " ",
             "simulation_controllers:=",
             initial_joint_controllers,
@@ -234,7 +234,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "prefix",
+            "tf_prefix",
             default_value='""',
             description="Prefix of the joint names, useful for "
             "multi-robot setup. If changed than also joint names in the controllers' configuration "

ur_simulation_gz/launch/ur_sim_moveit.launch.py

@@ -58,7 +58,7 @@ def launch_setup(context, *args, **kwargs):
             "runtime_config_package": runtime_config_package,
             "controllers_file": controllers_file,
             "description_file": description_file,
-            "prefix": prefix,
+            "tf_prefix": prefix,
             "launch_rviz": "false",
         }.items(),
     )