From 709468342cfb67a26a07b8a9e1011533f1402974 Mon Sep 17 00:00:00 2001
From: kelvin <nguyenleminh1002@gmail.com>
Date: Fri, 31 Jan 2025 15:16:48 +1000
Subject: [PATCH 1/2] URDF and xacro update

---
 .../description/qev3d.ros2_control.urdf.xacro         | 10 +++++++---
 src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro   | 11 +++++++++--
 2 files changed, 16 insertions(+), 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
index 3f1e099f8..bb4546346 100644
--- a/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
+++ b/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
@@ -1,7 +1,7 @@
 <?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="${name}" type="system">
       <hardware>
@@ -9,12 +9,16 @@
         <param name="example_param_hw_start_duration_sec">0</param>
         <param name="example_param_hw_stop_duration_sec">3.0</param>
       </hardware>
-      <joint name="${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
index bad99f69d..a83e30e02 100644
--- a/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
+++ b/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
@@ -79,6 +79,13 @@
 
     <!-- Description of how a rear wheel is connected to the chassis -->
     <xacro:macro name="rear_wheel" params="lr_prefix lr_reflect">
+      <joint name = "virtual_rear_wheel_joint" type = continuous>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="${chassis_link}"/>
+        <child link="${lr_prefix}_rear_wheel"/>
+        <axis xyz="0 1 0"/>
+      </joint>
+
       <joint name="rear_${lr_prefix}_wheel_joint" type="fixed">
         <origin xyz="${-1 * wheelbase / 2}
                      ${lr_reflect * ((chassis_width - wheel_width) / 2)}
@@ -101,10 +108,10 @@
     <!-- 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>

From 2aed6420288a7768dcdae30080024a8b2a05b639 Mon Sep 17 00:00:00 2001
From: kelvin <nguyenleminh1002@gmail.com>
Date: Fri, 31 Jan 2025 16:00:09 +1000
Subject: [PATCH 2/2] test

---
 src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro b/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
index a83e30e02..be7c01ce3 100644
--- a/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
+++ b/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
@@ -74,17 +74,12 @@
         <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 = "virtual_rear_wheel_joint" type = continuous>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <parent link="${chassis_link}"/>
-        <child link="${lr_prefix}_rear_wheel"/>
-        <axis xyz="0 1 0"/>
-      </joint>
 
       <joint name="rear_${lr_prefix}_wheel_joint" type="fixed">
         <origin xyz="${-1 * wheelbase / 2}