From b7671af959743aef99bbff667ed7bbec951cd4a7 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Thu, 27 Apr 2023 20:09:32 -0400
Subject: [PATCH] Use actuator_number for JPC.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>
---
 .../joint_position_controller/JointPositionController.cc    | 6 +++---
 .../joint_position_controller/JointPositionController.hh    | 4 ++--
 test/worlds/joint_position_controller_actuators.sdf         | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc
index b0539fc7a0..0d0d42d161 100644
--- a/src/systems/joint_position_controller/JointPositionController.cc
+++ b/src/systems/joint_position_controller/JointPositionController.cc
@@ -205,15 +205,15 @@ void JointPositionController::Configure(const Entity &_entity,
   if (_sdf->HasElement("use_actuator_msg") &&
     _sdf->Get<bool>("use_actuator_msg"))
   {
-    if (_sdf->HasElement("actuatorNumber"))
+    if (_sdf->HasElement("actuator_number"))
     {
       this->dataPtr->actuatorNumber =
-        _sdf->Get<int>("actuatorNumber");
+        _sdf->Get<int>("actuator_number");
       this->dataPtr->useActuatorMsg = true;
     }
     else
     {
-      gzerr << "Please specify an actuatorNumber" <<
+      gzerr << "Please specify an actuator_number" <<
         "to use Actuator position message control." << std::endl;
     }
   }
diff --git a/src/systems/joint_position_controller/JointPositionController.hh b/src/systems/joint_position_controller/JointPositionController.hh
index 74cb58e36d..af139641d7 100644
--- a/src/systems/joint_position_controller/JointPositionController.hh
+++ b/src/systems/joint_position_controller/JointPositionController.hh
@@ -53,10 +53,10 @@ namespace systems
   ///  The default value is 0.
   ///
   /// `<use_actuator_msg>` True to enable the use of actutor message
-  /// for position command. Relies on `<actuatorNumber>` for the
+  /// for position command. Relies on `<actuator_number>` for the
   /// index of the position actuator and defaults to topic "/actuators".
   ///
-  /// `<actuatorNumber>` used with `<use_actuator_commands>` to set
+  /// `<actuator_number>` used with `<use_actuator_commands>` to set
   /// the index of the position actuator.
   ///
   /// `<p_gain>` The proportional gain of the PID. Optional parameter.
diff --git a/test/worlds/joint_position_controller_actuators.sdf b/test/worlds/joint_position_controller_actuators.sdf
index e65eb698c3..5818a79ec7 100644
--- a/test/worlds/joint_position_controller_actuators.sdf
+++ b/test/worlds/joint_position_controller_actuators.sdf
@@ -116,7 +116,7 @@
         name="gz::sim::systems::JointPositionController">
         <joint_name>j1</joint_name>
         <use_actuator_msg>true</use_actuator_msg>
-        <actuatorNumber>0</actuatorNumber>
+        <actuator_number>0</actuator_number>
       </plugin>
     </model>
   </world>