qev3d.ros2_control.urdf.xacr0 --> qev3d_ros_contorl.urdf.xacro

QUT-Motorsport · Jan 31, 2025 · bce0983 · bce0983
1 parent 42625a8
commit bce0983
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/...description/qev3d.ros2_control.urdf.xacro → ...description/qev3d_ros2_control.urdf.xacro b/...description/qev3d.ros2_control.urdf.xacro → ...description/qev3d_ros2_control.urdf.xacro
@@ -1,6 +1,4 @@
-
-<!-- Currently copied from the ros2 control demo example 11. Change once other stuff is setup -->
-
+<!-- Copied from the ros2 control Demo code. Change later when hardware is setup -->
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 

diff --git a/src/control/ros2_control/qev3d_hardware_library.xml b/src/control/ros2_control/qev3d_hardware_library.xml
@@ -0,0 +1,9 @@
+<library path="qev-3d_hw_interfaces">
+  <class name="qev_hw_interfaces/Qev3dTopicInterface"
+         type="qutms_hw_interfaces::Qev3dTopicInterface"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface.
+    </description>
+  </class>
+</library>