Magnezijum-Robotics/magrob
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Fixed firmware and toid_bot_description

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This commit is contained in:
Pimpest
2026-01-28 17:09:50 +01:00
parent d9f179bda5
commit 6156657c2e
7 changed files with 22 additions and 24 deletions
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4
mg_control/launch/toid.launch.py
View File

@@ -48,7 +48,7 @@ def generate_launch_description():
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[{'robot_description': Command(['xacro ', default_model_path, ' use_sim:=', use_mock])}]
parameters=[{'robot_description': Command(['xacro ', default_model_path, ' use_mock:=', use_mock])}]
)
controller_manager = Node(
@@ -108,4 +108,4 @@ def generate_launch_description():
joint_state_broadcaster,
diffbot_base_controller,
rviz_node
])
])

10
mg_control/src/mg_control.cpp
View File

@@ -31,6 +31,8 @@ CallbackReturn mg::MgStepperInterface::on_configure(const rclcpp_lifecycle::Stat
"Failed to open serial port (Is the stepper driver plugged in)");
return CallbackReturn::ERROR;
}
RCLCPP_INFO(rclcpp::get_logger("MgStepperInterface"),
"Configured stepper motor interface");
return CallbackReturn::SUCCESS;
}
@@ -45,8 +47,8 @@ std::vector<hardware_interface::StateInterface> mg::MgStepperInterface::export_s
std::vector<hardware_interface::StateInterface> state_interfaces;
state_interfaces.reserve(2);
state_interfaces.emplace_back("left_motor", hardware_interface::HW_IF_POSITION, &left_wheel_pos_state);
state_interfaces.emplace_back("right_motor", hardware_interface::HW_IF_POSITION, &right_wheel_pos_state);
state_interfaces.emplace_back("drivewhl_l_joint", hardware_interface::HW_IF_POSITION, &left_wheel_pos_state);
state_interfaces.emplace_back("drivewhl_r_joint", hardware_interface::HW_IF_POSITION, &right_wheel_pos_state);
return state_interfaces;
}
@@ -55,8 +57,8 @@ std::vector<hardware_interface::CommandInterface> mg::MgStepperInterface::export
std::vector<hardware_interface::CommandInterface> command_interfaces;
command_interfaces.reserve(2);
command_interfaces.emplace_back("left_motor", hardware_interface::HW_IF_VELOCITY, &left_wheel_vel_cmd);
command_interfaces.emplace_back("right_motor", hardware_interface::HW_IF_VELOCITY, &right_wheel_vel_cmd);
command_interfaces.emplace_back("drivewhl_l_joint", hardware_interface::HW_IF_VELOCITY, &left_wheel_vel_cmd);
command_interfaces.emplace_back("drivewhl_r_joint", hardware_interface::HW_IF_VELOCITY, &right_wheel_vel_cmd);
return command_interfaces;
}