From 2693c6c8644b1dcb12317145dfc7ecf9b184a554 Mon Sep 17 00:00:00 2001
From: Ruddick Lawrence <679360+mrjogo@users.noreply.github.com>
Date: Mon, 24 Jun 2024 01:33:40 -0700
Subject: [PATCH] Correct launchfiles to use tf_prefix URDF argument, and
 ros_gz_sim package name. (#13)

Co-authored-by: Felix Exner <exner@fzi.de>
---
 ur_simulation_gz/launch/ur_sim_control.launch.py | 8 ++++----
 ur_simulation_gz/launch/ur_sim_moveit.launch.py  | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index 533191e..6703566 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/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 "
diff --git a/ur_simulation_gz/launch/ur_sim_moveit.launch.py b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
index b093e9c..0e5c899 100644
--- a/ur_simulation_gz/launch/ur_sim_moveit.launch.py
+++ b/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(),
     )