diff --git a/src/ar3_config/config/ar3_controllers.yaml b/src/ar3_config/config/ar3_controllers.yaml
index 80522ca..348d188 100644
--- a/src/ar3_config/config/ar3_controllers.yaml
+++ b/src/ar3_config/config/ar3_controllers.yaml
@@ -6,10 +6,9 @@ joint_trajectory_controller:
type: FollowJointTrajectory
default: true
joints:
- - joint1
- - joint2
- - joint3
- - joint4
- - joint5
- - joint6
- - joint7
+ - joint_1
+ - joint_2
+ - joint_3
+ - joint_4
+ - joint_5
+ - joint_6
diff --git a/src/ar3_config/launch/dev.launch.py b/src/ar3_config/launch/dev.launch.py
index 4d9b2a4..512db52 100644
--- a/src/ar3_config/launch/dev.launch.py
+++ b/src/ar3_config/launch/dev.launch.py
@@ -61,7 +61,7 @@ def generate_launch_description():
executable='rviz2',
output='log',
arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
- parameters=[robot_description]),
+ parameters=[robot_description, robot_description_semantic, robot_description_kinematics]),
# Attatch robot to map
Node(
diff --git a/src/ar3_description/ar3_description/state_publisher.py b/src/ar3_description/ar3_description/state_publisher.py
index 5fb602d..88b9136 100644
--- a/src/ar3_description/ar3_description/state_publisher.py
+++ b/src/ar3_description/ar3_description/state_publisher.py
@@ -47,7 +47,7 @@ class StatePublisher(Node):
# joint_state.position = [random.random() * pi / 2] * 6
# joint_state.position = [angle * 16, pi/2., -25 / 180 * pi, 0., 0., 0.]
# joint_state.position = [angle * 0.01 * random.random()] * 6
- joint_state.position = [0., 0., 0., 0., angle, 0.]
+ joint_state.position = [0., 0., 0., 0., 0., 0.]
# update transform
# (moving in a circle with radius=2)
diff --git a/src/ar3_description/urdf/ar3.srdf b/src/ar3_description/urdf/ar3.srdf
index ab900e2..30a6c64 100644
--- a/src/ar3_description/urdf/ar3.srdf
+++ b/src/ar3_description/urdf/ar3.srdf
@@ -5,4 +5,14 @@
+
+
+
+
+
+
+
+
+
+