Difference between using hardware_interface/VelocityJointInterface and VelocityJointInterface

[youngyangcs]

Hi, all

When I’m defining the <hardwareInterface> in a urdf file, the example give in the URDF course using <hardwareInterface>VelocityJointInterface</hardwareInterface>. While the example in the ROS control document uses <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>.

I would like to know if there are any differences between using those two?

Cheers

[albertoezquerro]

Hello @youngyangcs ,

Both do the same, but using only VelocityJointInterface is deprecated and will raise some warnings. The updated way to specify it is hardware_interface/VelocityJointInterface.