# Cannot change the prefix of URkinematics to a postfix

ROS Melodic Ubuntu 18.04

Admittedly, I have 0 clue of c++, so I have 2 UR10 robots and I cannot load the URkinematics plugin because of "missing" joints. I changed the names of my joints from joint_name to joint_name_right/left. Well, back then I didn't know the joints were "hardcoded." How do I get this piece of code working though? Even changing the joint_names itself gives me this error, in fact, I get the same joint_name no matter where I change it. I have absolutely 0 clue where the plugin gets its joint names because changing them below doesnt do anything.

ERROR: Kin chain provided in model doesn't contain standard UR joint '_rightshoulder_lift_joint'.

  ur_joint_names_.push_back("shoulder_pan_joint" + arm_prefix_);
ur_joint_names_.push_back("shoulder_lift_joint" + arm_prefix_);
ur_joint_names_.push_back( "elbow_joint" + arm_prefix_);
ur_joint_names_.push_back("wrist_1_joint" + arm_prefix_);
ur_joint_names_.push_back("wrist_2_joint" + arm_prefix_);
ur_joint_names_.push_back("wrist_3_joint" + arm_prefix_);