From 87952c74048f18498f6bef3cd4eb44fea394ad0b Mon Sep 17 00:00:00 2001
From: mauderliEmbotech <mauderli@embotech.com>
Date: Tue, 23 Nov 2021 11:26:24 +0100
Subject: [PATCH 1/3] Fixed missing prefix

---
 robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro b/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
index d642cbce..969765cc 100644
--- a/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
+++ b/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
@@ -34,7 +34,7 @@
 
   <!-- Instantiate model for the REAL robot. -->
   <xacro:robotiq_arg2f_85 
-  prefix=""
+      prefix="${prefix}"
   transmission_hw_interface="$(arg transmission_hw_interface)"/>
 
   <!-- Mimic joints plugin-->

From 8ece6e316a3f0c29507bf5ac643a1de08b13dbef Mon Sep 17 00:00:00 2001
From: mauderliEmbotech <mauderli@embotech.com>
Date: Tue, 23 Nov 2021 11:27:14 +0100
Subject: [PATCH 2/3] Fixed transmission interface typos

---
 .../urdf/inc/robotiq_arg2f_85_transmissions.xacro               | 2 +-
 .../urdf/robotiq_arg2f_85_macro.xacro                           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro b/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro
index 078342c3..ddc2ffa1 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro
@@ -4,7 +4,7 @@
     <transmission name="${prefix}finger_joint_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}finger_joint">
-        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <hardwareInterface>"${hw_interface}"</hardwareInterface>
       </joint>
       <actuator name="${prefix}finger_joint_motor">
         <mechanicalReduction>1</mechanicalReduction>
diff --git a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro
index 040feffb..abb72ce8 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro
@@ -5,7 +5,7 @@
 
   <xacro:macro name="robotiq_arg2f_85" params="
     prefix 
-    transmission_hw_interface:=hardware/interface/EffortJointInterface"
+    transmission_hw_interface:=hardware_interface/EffortJointInterface"
   >
     <!-- Add URDF transmission elements (for ros_control) -->
     <xacro:robotiq_arg2f_85_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}"/>

From 67e901e546a092844dc02fcfb0640ef8e1a96c33 Mon Sep 17 00:00:00 2001
From: mauderliEmbotech <mauderli@embotech.com>
Date: Tue, 23 Nov 2021 12:02:01 +0100
Subject: [PATCH 3/3] Fixed transmission hw interface typos

---
 robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro  | 2 +-
 .../urdf/inc/robotiq_arg2f_85_transmissions.xacro               | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro b/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
index 969765cc..aa3bc3d3 100644
--- a/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
+++ b/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
@@ -35,7 +35,7 @@
   <!-- Instantiate model for the REAL robot. -->
   <xacro:robotiq_arg2f_85 
       prefix="${prefix}"
-  transmission_hw_interface="$(arg transmission_hw_interface)"/>
+      transmission_hw_interface="${transmission_hw_interface}"/>
 
   <!-- Mimic joints plugin-->
     <gazebo>
diff --git a/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro b/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro
index ddc2ffa1..078342c3 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/inc/robotiq_arg2f_85_transmissions.xacro
@@ -4,7 +4,7 @@
     <transmission name="${prefix}finger_joint_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}finger_joint">
-        <hardwareInterface>"${hw_interface}"</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="${prefix}finger_joint_motor">
         <mechanicalReduction>1</mechanicalReduction>