From b56b7619d9de3c411c2b955d4be8d568babc86f3 Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <tpoignonec@unistra.fr>
Date: Mon, 2 Sep 2024 13:08:52 +0200
Subject: [PATCH] change "fd_inertia" to "${robot_id}_inertia"

---
 fd_description/ros2_control/fd.r2c_hardware.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fd_description/ros2_control/fd.r2c_hardware.xacro b/fd_description/ros2_control/fd.r2c_hardware.xacro
index 95faaa9..e08be80 100644
--- a/fd_description/ros2_control/fd.r2c_hardware.xacro
+++ b/fd_description/ros2_control/fd.r2c_hardware.xacro
@@ -12,7 +12,7 @@
                     <plugin>fd_hardware/FDEffortHardwareInterface</plugin>
                     <param name="interface_id">${interface_id}</param>
                     <param name="emulate_button">${emulate_button}</param>
-                    <param name="inertia_interface_name">fd_inertia</param>
+                    <param name="inertia_interface_name">${robot_id}_inertia</param>
                     <param name="effector_mass">${effector_mass}</param>
                     <param name="ignore_orientation_readings">${ignore_orientation_readings}</param>
                 </xacro:unless>