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Fixes quotes #239

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Fixes quotes #239

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4 changes: 2 additions & 2 deletions sr_robot_launch/launch/sr_ur_arm_hand.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
<arg name="initial_z" default="0.1"/>

<!-- Change this for another hand -->
<arg name="robot_description" default="$(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model)_joint_limited.urdf.xacro"/>
<arg name="robot_description" default="'$(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model)_joint_limited.urdf.xacro'"/>
<arg name="robot_config_file" default="$(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_$(arg robot_model).yaml"/>
<arg name="robot_name" default="$(arg robot_model)srh"/>

Expand Down Expand Up @@ -60,7 +60,7 @@
<arg name="paused" value="$(arg paused)"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg robot_description)' initial_z:=$(arg initial_z)"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(arg robot_description) initial_z:=$(arg initial_z)"/>
<!-- HAND -->
<param name="/hand/mapping/$(arg hand_serial)" value="$(arg hand_id)"/>
<param name="/hand/joint_prefix/$(arg hand_serial)" value="$(arg hand_id)_"/>
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4 changes: 2 additions & 2 deletions sr_robot_launch/launch/srhand.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
<!-- Serial number of the hand to be used-->
<arg name="hand_serial" default="1322"/>
<!-- Loads the robot description -->
<arg name="robot_description" default="$(find sr_description)/robots/shadowhand_motor.urdf.xacro"/>
<arg name="robot_description" default="'$(find sr_description)/robots/shadowhand_motor.urdf.xacro'"/>
<!-- Allows to specify the ethernet interface/s to be used for ethercat devices. It defaults to the value of the env var ETHERCAT_PORT
More than one interface can be specified by concatenating them using underscore as a separator (e.g eth1_eth2_eth3) -->
<arg name="eth_port" default="$(optenv ETHERCAT_PORT eth0)"/>
Expand All @@ -38,7 +38,7 @@
</include>
<param name="/hand/mapping/$(arg hand_serial)" value="$(arg hand_id)"/>
<param name="/hand/joint_prefix/$(arg hand_serial)" value="$(arg hand_id)_"/>
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg robot_description)'"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(arg robot_description)"/>
<node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model usrh -z 0.0 "
respawn="false" output="screen"/>
<rosparam command="load" file="$(find sr_description)/hand/config/$(arg hand_id)_controller_gazebo.yaml"/>
Expand Down