Change block name

Author: Dan Zimmerman

urdf/ur.ros2_control.xacro

@@ -7,15 +7,15 @@
     add_non_joint_interfaces:=true
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
     transmission_hw_interface:=hardware_interface/PositionJointInterface
-    **hardware_system
+    **ros2_control_hardware
     ">
 
     <!-- Add URDF transmission elements (for ros_control) -->
     <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
 
     <ros2_control name="${name}" type="system">
       <!-- Start hardware dependency injection from outside the macro-->
-      <xacro:insert_block name="hardware_system" />
+      <xacro:insert_block name="ros2_control_hardware" />
       <!-- End hardware dependency injection -->
       <joint name="${prefix}shoulder_pan_joint">
         <command_interface name="position">

urdf/ur.urdf.xacro

@@ -97,7 +97,7 @@
       >
       <!-- dz: For now, I conditionally pass the right <hardware> as a block param. -->
       <!-- dz: Later, this wouldn't be necessary, a consumer package could create and pass it in its top-level xacro -->
-         <hardware_system>
+         <ros2_control_hardware>
             <xacro:unless value="${sim_gazebo or sim_ignition or fake_hardware}">
                <xacro:ur_real_hardware_block
                   headless_mode="$(arg headless_mode)"
@@ -139,7 +139,7 @@
                   <plugin>ign_ros2_control/IgnitionSystem</plugin>
                </hardware>
             </xacro:if>
-         </hardware_system>
+         </ros2_control_hardware>
    </xacro:ur_ros2_control>