Magnezijum-Robotics/magrob
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Added firmware for wheelbase

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Pimpest
2025-04-09 15:56:18 +02:00
parent c1b5a3ea1c
commit 2624e3763c
19 changed files with 1131 additions and 4 deletions
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2
mg_control/assets/mg_base_controllers.yaml
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@ -12,7 +12,7 @@ diffdrive_controller:
left_wheel_names: ["left_motor"]
right_wheel_names: ["right_motor"]
enable_odom_tf: true
enable_odom_tf: false
odom_frame_id: odom_excpected
base_frame_id: base-link

2
mg_control/src/mg_control.cpp
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@ -11,7 +11,7 @@ CallbackReturn mg::MgStepperInterface::on_init(const hardware_interface::Hardwar
if (info_.hardware_parameters.find("device_path") != info.hardware_parameters.end()) {
serial_port_name = info_.hardware_parameters["device_path"];
} else {
serial_port_name = "/dev/ttyACM0";
serial_port_name = "/dev/ttyACM1";
}
left_wheel_pos_state = 0;