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(Solved) How can i solved: Deprecated syntax, please prepend 'hardware_interface/' ?

asked 2017-05-21 07:54:47 -0600

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Hello everyone.

I am trying to display my model robot in gazebo and get this warning:

Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareinterface> tag in joint 'joint_base'.

I know it's not important but I want to solve it.

This is my code in the xacro file of the transmission block:

<xacro:macro name="transmission_block" params="joint_name">

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="${joint_name}">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">          
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

</xacro:macro>

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Hi, I have the same warning, but when I append "hardware_interfase/" I receive this:

No matching hardware interface found for 'hardware_interfase/EffortJointInterface' while loading interfaces for pitch_joint

lejan gravatar imagelejan ( 2021-05-06 09:25:13 -0600 )edit

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answered 2017-05-21 14:48:56 -0600

hamzamerzic gravatar image

updated 2017-05-21 14:49:23 -0600

As you said, it is just a warning and doesn't break anything. To stop the message, simply follow the warning message to get:

<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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thaaank you!!

Daniel Tobon gravatar imageDaniel Tobon ( 2017-05-23 19:43:35 -0600 )edit

I have a related issue. My transmission is set up as


 <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="waist">
      <hardwareinterface>EffortJointInterface</hardwareinterface>
    </joint>
    <actuator name="motor1">
      <hardwareinterface>EffortJointInterface</hardwareinterface>
      <mechanicalreduction>1</mechanicalreduction>
    </actuator>
  </transmission>

Mav14 gravatar imageMav14 ( 2017-11-08 16:48:36 -0600 )edit

And this is the error I get Could not find resource 'waist' in 'hardware_interface::EffortJointInterface'.. I can't figure out what's causing that despite looking everywhere.

Mav14 gravatar imageMav14 ( 2017-11-08 16:49:36 -0600 )edit
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Asked: 2017-05-21 07:54:47 -0600

Seen: 9,216 times

Last updated: May 23 '17