From b73944d14cbe4763fa6011ed503608e609664716 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 17 Mar 2021 15:21:34 +0100
Subject: [PATCH] Updated remap to default controller

---
 ur10_moveit_config/launch/ur10_moveit_planning_execution.launch | 2 +-
 ur10_moveit_config/tests/moveit_planning_execution.xml          | 2 +-
 .../launch/ur10e_moveit_planning_execution.launch               | 2 +-
 ur10e_moveit_config/tests/moveit_planning_execution.xml         | 2 +-
 .../launch/ur16e_moveit_planning_execution.launch               | 2 +-
 ur16e_moveit_config/tests/moveit_planning_execution.xml         | 2 +-
 ur3_moveit_config/launch/ur3_moveit_planning_execution.launch   | 2 +-
 ur3_moveit_config/tests/moveit_planning_execution.xml           | 2 +-
 ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch | 2 +-
 ur3e_moveit_config/tests/moveit_planning_execution.xml          | 2 +-
 ur5_moveit_config/launch/ur5_moveit_planning_execution.launch   | 2 +-
 ur5_moveit_config/tests/moveit_planning_execution.xml           | 2 +-
 ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch | 2 +-
 ur5e_moveit_config/tests/moveit_planning_execution.xml          | 2 +-
 14 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch b/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch
index 596ecb835..7ee715dd6 100644
--- a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch
+++ b/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur10_moveit_config)/launch/move_group.launch">
diff --git a/ur10_moveit_config/tests/moveit_planning_execution.xml b/ur10_moveit_config/tests/moveit_planning_execution.xml
index 0d5f8c672..843f2bece 100644
--- a/ur10_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur10_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur10_moveit_config)/launch/move_group.launch">
     </include>
   </group>
diff --git a/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch
index e7240f802..cb6f739b2 100644
--- a/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch
+++ b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur10e_moveit_config)/launch/move_group.launch">
diff --git a/ur10e_moveit_config/tests/moveit_planning_execution.xml b/ur10e_moveit_config/tests/moveit_planning_execution.xml
index 910165b8b..fe138e5f1 100644
--- a/ur10e_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur10e_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur10e_moveit_config)/launch/move_group.launch">
     </include>
   </group>
diff --git a/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch b/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch
index 588ea4684..e88ac0437 100644
--- a/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch
+++ b/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur16e_moveit_config)/launch/move_group.launch">
diff --git a/ur16e_moveit_config/tests/moveit_planning_execution.xml b/ur16e_moveit_config/tests/moveit_planning_execution.xml
index f7a2c9d9f..3ff79057b 100644
--- a/ur16e_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur16e_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur16e_moveit_config)/launch/move_group.launch">
     </include>
   </group>
diff --git a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch b/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch
index 2631567cc..53c114e13 100644
--- a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch
+++ b/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur3_moveit_config)/launch/move_group.launch">
diff --git a/ur3_moveit_config/tests/moveit_planning_execution.xml b/ur3_moveit_config/tests/moveit_planning_execution.xml
index 3c6c18d7f..10246c7d7 100644
--- a/ur3_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur3_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur3_moveit_config)/launch/move_group.launch">
     </include>
   </group>
diff --git a/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch
index 91de984ad..59da97306 100644
--- a/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch
+++ b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur3e_moveit_config)/launch/move_group.launch">
diff --git a/ur3e_moveit_config/tests/moveit_planning_execution.xml b/ur3e_moveit_config/tests/moveit_planning_execution.xml
index 81c4302af..6025d2427 100644
--- a/ur3e_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur3e_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur3e_moveit_config)/launch/move_group.launch">
     </include>
   </group>
diff --git a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch b/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch
index e1c225159..5648324c1 100644
--- a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch
+++ b/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur5_moveit_config)/launch/move_group.launch">
diff --git a/ur5_moveit_config/tests/moveit_planning_execution.xml b/ur5_moveit_config/tests/moveit_planning_execution.xml
index e3f3ae0ad..16052aa74 100644
--- a/ur5_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur5_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur5_moveit_config)/launch/move_group.launch">
     </include>
   </group>
diff --git a/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch
index e73b32cc3..acd7ef8b8 100644
--- a/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch
+++ b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch
@@ -3,7 +3,7 @@
   <arg name="debug" default="false" />
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur5e_moveit_config)/launch/move_group.launch">
diff --git a/ur5e_moveit_config/tests/moveit_planning_execution.xml b/ur5e_moveit_config/tests/moveit_planning_execution.xml
index 34976b996..1a256e673 100644
--- a/ur5e_moveit_config/tests/moveit_planning_execution.xml
+++ b/ur5e_moveit_config/tests/moveit_planning_execution.xml
@@ -7,7 +7,7 @@
   </group>
 
   <group ns="sim">
-    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <remap from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
     <include file="$(find ur5e_moveit_config)/launch/move_group.launch">
     </include>
   </group>