Merge branch 'feature/ros2_control_migration_setup' of https://github…

….com/QUT-Motorsport/QUTMS_Driverless into feature/ros2_control_migration_setup
QUT-Motorsport · Jan 31, 2025 · 69afe5a · 69afe5a
2 parents 4e9923e + 553b038
commit 69afe5a
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro b/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
@@ -4,20 +4,24 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="qev3d_ros2_control" params="name prefix">
+  <xacro:macro name="qev3d_ros2_control" params="name prefix"> <!--Template for the QEV-3D ros2_control description -->
 
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>ros2_control_demo_example_11/CarlikeBotSystemHardware</plugin>
         <param name="example_param_hw_start_duration_sec">0</param>
         <param name="example_param_hw_stop_duration_sec">3.0</param>
       </hardware>
-      <joint name="${prefix}front_wheel_joint">
+      <joint name="${prefix}virtual_front_wheel_joint">
         <command_interface name="position"/>
+          <param name = "min">-0.28</param>
+          <param name = "max">0.28</param>
         <state_interface name="position"/>
       </joint>
-      <joint name="${prefix}rear_wheel_joint">
+      <joint name="${prefix}virtual_rear_wheel_joint">
         <command_interface name="velocity"/>
+          <param name = "min">-10</param>
+          <param name = "max">10</param>>
         <state_interface name="velocity"/>
         <state_interface name="position"/>
       </joint>

diff --git a/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro b/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
@@ -74,11 +74,13 @@
         <limit lower="0" upper="0" effort="10000000" velocity="1000000"/>
       </joint>
 
+      <!-- Add the wheel -->
       <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="front"/>
     </xacro:macro>
 
     <!-- Description of how a rear wheel is connected to the chassis -->
     <xacro:macro name="rear_wheel" params="lr_prefix lr_reflect">
+
       <joint name="rear_${lr_prefix}_wheel_joint" type="fixed">
         <origin xyz="${-1 * wheelbase / 2}
                      ${lr_reflect * ((chassis_width - wheel_width) / 2)}
@@ -101,10 +103,10 @@
     <!-- right_front_wheel -->
     <xacro:front_wheel lr_prefix="right" lr_reflect="-1"/>
 
-    <!-- left_rear_wheel -->
+    <!--  left_rear_wheel -->
     <xacro:rear_wheel lr_prefix="left" lr_reflect="1" />
 
-    <!-- right_rear_wheel -->
+
     <xacro:rear_wheel lr_prefix="right" lr_reflect="-1" />
   </xacro:macro>
 </robot>