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fixed mock hardware for botwheel explorer #28

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fixed mock hardware for botwheel explorer #28

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f4c7057
fixed mock hardware for botwheel explorer
ErikParkerrr Sep 17, 2024
c6877bb
Add service to clear errors
Mar 15, 2024
73dc509
changed torque to effort to match hardware interface
ErikParkerrr Oct 12, 2024
6b267f3
added use_mock_hardware and use_rviz launch arguemtns back in
ErikParkerrr Oct 13, 2024
2c3dde7
added materials file from ros2_control_examples
ErikParkerrr Oct 13, 2024
7039070
Merge pull request #1 from ErikParkerrr/pr-28
ErikParkerrr Oct 13, 2024
5a39483
added transmission ratios
ErikParkerrr Oct 13, 2024
66fc1be
fixed unused variable compiler complaint
ErikParkerrr Oct 13, 2024
5f9f1ec
allowed for defaulted transmission ratio of 1 for when undefined in urdf
ErikParkerrr Oct 13, 2024
fd2e997
supressed more stupid stuff
ErikParkerrr Jan 9, 2025
c7aba8f
fixed typo
ErikParkerrr Jan 9, 2025
06c87f5
made it unstamped
ErikParkerrr Jan 9, 2025
67664b8
Merge branch 'main' into fix/unused_buf_fix
ErikParkerrr Jan 9, 2025
e66edfb
Merge pull request #2 from ErikParkerrr/fix/unused_buf_fix
ErikParkerrr Jan 9, 2025
3d1dbc6
fixed merge errors
ErikParkerrr Jan 9, 2025
112b2bd
Merge branch 'main' of https://github.com/odriverobotics/ros_odrive i…
ErikParkerrr Jan 10, 2025
67f9747
Merge branch 'odriverobotics-main'
ErikParkerrr Jan 10, 2025
4069fad
fixed more merge errors
ErikParkerrr Jan 10, 2025
8c36d2d
added the ability to reverse axis, kind of useless actually
ErikParkerrr Jan 12, 2025
1172e67
Merge branch 'main' of https://github.com/odriverobotics/ros_odrive i…
ErikParkerrr Jan 19, 2025
77e5538
Merge branch 'odriverobotics-main'
ErikParkerrr Jan 19, 2025
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15 changes: 14 additions & 1 deletion odrive_botwheel_explorer/description/urdf/diffbot.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,25 @@
</xacro:if>
<joint name="${prefix}left_wheel_joint">
<param name="node_id">0</param>
<command_interface name="velocity"/>
<command_interface name="position"/>
<command_interface name="torque"/>
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torque needs to be renamed to effort (4x). Otherwise, when I try it with the real hardware interface, it crashes with:

[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  Wrong state or command interface configuration.
[ros2_control_node-1] missing state interfaces:
[ros2_control_node-1] ' left_wheel_joint/torque '       ' right_wheel_joint/torque '
[ros2_control_node-1] missing command interfaces:
[ros2_control_node-1] ' left_wheel_joint/torque '       ' right_wheel_joint/torque '

<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="torque"/>
</joint>
<joint name="${prefix}right_wheel_joint">
<param name="node_id">1</param>
<command_interface name="velocity"/>
<command_interface name="position"/>
<command_interface name="torque"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="torque"/>
</joint>

</ros2_control>

</xacro:macro>

</robot>
</robot>
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