Merge branch 'master' into gepgitlab-master

6516b28e · Olivier Stasse · a11d9026 · 2f525c08 · 6516b28e · 6516b28e
Commit 6516b28e authored 6 years ago by Olivier Stasse
--- a/launch/talos_joint_command_rviz.launch
+++ b/launch/talos_joint_command_rviz.launch

-roslaunch talos-data upload_legs.launch
+roslaunch talos_data upload_legs.launch

 rosrun joint_state_publisher joint_state_publisher _use_gui:=True


--- a/robots/talos_arm.urdf.xacro
+++ b/robots/talos_arm.urdf.xacro
@@ -13,8 +13,8 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />

 <link name="talos_2_link">
    <inertial>
@@ -28,7 +28,7 @@
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
      </geometry>
      <material name="LightGrey" />
    </visual>
@@ -36,7 +36,7 @@
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
@@ -48,8 +48,8 @@
  <xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_full.urdf.xacro
+++ b/robots/talos_full.urdf.xacro
@@ -13,12 +13,12 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />

  <xacro:talos_torso name="torso" />

@@ -37,8 +37,8 @@
  <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_full_collision.urdf
+++ b/robots/talos_full_collision.urdf
--- a/robots/talos_full_no_grippers.urdf.xacro
+++ b/robots/talos_full_no_grippers.urdf.xacro
@@ -13,11 +13,11 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />

  <xacro:talos_torso name="torso" />

@@ -33,8 +33,8 @@
  <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_full_no_lower_arm.urdf.xacro
+++ b/robots/talos_full_no_lower_arm.urdf.xacro
@@ -13,12 +13,12 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />

  <xacro:talos_torso name="torso" />

@@ -32,8 +32,8 @@
  <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_gripper.urdf.xacro
+++ b/robots/talos_gripper.urdf.xacro
@@ -13,17 +13,17 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />

  <xacro:talos_torso name="torso" />

  <xacro:talos_gripper name="gripper" parent="torso_2_link"/>

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_head.urdf.xacro
+++ b/robots/talos_head.urdf.xacro
@@ -13,7 +13,7 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />

 <link name="talos_2_link">
    <inertial>
@@ -27,7 +27,7 @@
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
      </geometry>
      <material name="LightGrey" />
    </visual>
@@ -35,7 +35,7 @@
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
@@ -43,8 +43,8 @@
  <xacro:talos_head name="head" parent="talos_2_link"/>

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_lower_body.urdf.xacro
+++ b/robots/talos_lower_body.urdf.xacro
@@ -13,7 +13,7 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
    <link name="base_link">
      <inertial>
        <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
@@ -26,7 +26,7 @@
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
-          <mesh filename="package://talos-data/meshes/talos/base_link.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/talos/base_link.STL" scale="1 1 1"/>
        </geometry>
        <material name="DarkGrey" />
      </visual>
@@ -34,7 +34,7 @@
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
-          <mesh filename="package://talos-data/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
        </geometry>
      </collision>  
    </link>
@@ -44,8 +44,8 @@
   <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_lower_body_with_torso.urdf.xacro
+++ b/robots/talos_lower_body_with_torso.urdf.xacro
@@ -13,12 +13,12 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />

  <xacro:talos_torso name="torso" />

@@ -28,8 +28,8 @@
  <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_small.urdf.xacro
+++ b/robots/talos_small.urdf.xacro
@@ -13,12 +13,12 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <!--  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" /> -->
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <!--  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" /> -->
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />

  <xacro:talos_torso name="torso" />

@@ -38,8 +38,8 @@
  <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/talos_torso.urdf.xacro
+++ b/robots/talos_torso.urdf.xacro
@@ -13,13 +13,13 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />

  <xacro:talos_torso name="torso" />

  <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />

 </robot>
--- a/robots/upload_arm.launch
+++ b/robots/upload_arm.launch
 <launch>

  <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_arm.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_arm.urdf.xacro'" />

 </launch>
--- a/robots/upload_gripper.launch
+++ b/robots/upload_gripper.launch
 <launch>

  <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_gripper.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_gripper.urdf.xacro'" />

 </launch>
--- a/robots/upload_head.launch
+++ b/robots/upload_head.launch
 <launch>

  <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_head.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_head.urdf.xacro'" />

 </launch>
--- a/robots/upload_legs.launch
+++ b/robots/upload_legs.launch
 <launch>

  <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_lower_body.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_lower_body.urdf.xacro'" />

 </launch>
--- a/robots/upload_talos.launch
+++ b/robots/upload_talos.launch
@@ -3,6 +3,6 @@
  <arg name="robot" default="full"/>
  
  <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_$(arg robot).urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'" />

 </launch>
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -649,10 +649,12 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
    <gripper name="left_gripper" clearance="0.03">
      <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
      <link name="gripper_left_base_link" />
+      <joint name="gripper_left_joint" />
    </gripper>

    <gripper name="right_gripper" clearance="0.03">
      <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
      <link name="gripper_right_base_link" />
+      <joint name="gripper_right_joint" />
    </gripper> 
 </robot>
--- a/urdf/arm/arm.urdf.xacro
+++ b/urdf/arm/arm.urdf.xacro
@@ -11,9 +11,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">

  <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/wrist.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />

  <!--Constant parameters-->
  <xacro:property name="arm_friction"       value="1.0" />
@@ -48,14 +48,14 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="DarkGrey" />
      </visual>
      <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>
@@ -87,14 +87,14 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="DarkGrey" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>
@@ -127,14 +127,14 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="DarkGrey" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>
@@ -170,14 +170,14 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="DarkGrey" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>

--- a/urdf/arm/wrist.urdf.xacro
+++ b/urdf/arm/wrist.urdf.xacro
@@ -11,8 +11,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">

  <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/wrist.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />

  <!--Constant parameters-->
  <xacro:property name="wrist_friction"       value="1.0" />
@@ -44,14 +44,14 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="LightGrey" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>
@@ -84,14 +84,14 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="LightGrey" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>
@@ -134,7 +134,7 @@
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
        </geometry>
        <material name="DarkGrey" />
      </visual>
@@ -142,7 +142,7 @@
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
        </geometry>
      </collision>
    </link>