From bce098360e81ca0f471ca207d8eb6ddf62f2ce62 Mon Sep 17 00:00:00 2001
From: Peter Liao <peterliao2004@gmail.com>
Date: Fri, 31 Jan 2025 16:15:28 +1000
Subject: [PATCH] qev3d.ros2_control.urdf.xacr0 -->
 qev3d_ros_contorl.urdf.xacro

---
 ..._control.urdf.xacro => qev3d_ros2_control.urdf.xacro} | 4 +---
 src/control/ros2_control/qev3d_hardware_library.xml      | 9 +++++++++
 2 files changed, 10 insertions(+), 3 deletions(-)
 rename src/control/ros2_control/description/{qev3d.ros2_control.urdf.xacro => qev3d_ros2_control.urdf.xacro} (91%)
 create mode 100644 src/control/ros2_control/qev3d_hardware_library.xml

diff --git a/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro b/src/control/ros2_control/description/qev3d_ros2_control.urdf.xacro
similarity index 91%
rename from src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
rename to src/control/ros2_control/description/qev3d_ros2_control.urdf.xacro
index 983613647..1b5343848 100644
--- a/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
+++ b/src/control/ros2_control/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
new file mode 100644
index 000000000..58d332523
--- /dev/null
+++ 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>