Magnezijum-Robotics/magrob
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Added new robot descriptions for Robotoid

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This commit is contained in:
pimpest
2026-01-05 00:32:35 +01:00
parent 7da27e4cb8
commit b724a7a679
17 changed files with 243 additions and 18 deletions
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2
mg_control/assets/mg_base.urdf
View File

@@ -55,7 +55,7 @@
</joint>
<ros2_control name="mg-base" type="system">
<ros2_control name="mg_base" type="system">
<hardware>
<plugin>mg_control/MgStepperInterface</plugin>
</hardware>

4
mg_control/assets/mg_base_controllers.yaml
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@@ -1,6 +1,6 @@
controller_manager:
ros__parameters:
update_rate: 100
update_rate: 50
diffdrive_controller:
type: diff_drive_controller/DiffDriveController
@@ -14,7 +14,7 @@ diffdrive_controller:
enable_odom_tf: false
odom_frame_id: odom_excpected
base_frame_id: base-link
base_frame_id: base_footprint
open_loop: true

2
mg_control/assets/mg_base_controllers_local.yaml
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@@ -14,7 +14,7 @@ diffdrive_controller:
enable_odom_tf: true
odom_frame_id: odom
base_frame_id: base-link
base_frame_id: base_footprint
open_loop: true

2
mg_control/assets/mg_base_local.urdf
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@@ -55,7 +55,7 @@
</joint>
<ros2_control name="mg-base" type="system">
<ros2_control name="mg_base" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>

22
mg_control/assets/toid_general_params.yaml Normal file
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@@ -0,0 +1,22 @@
controller_manager:
ros__parameters:
update_rate: 50
diffdrive_controller:
type: diff_drive_controller/DiffDriveController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
diffdrive_controller:
ros__parameters:
left_wheel_names: ["drivewhl_l_joint"]
right_wheel_names: ["drivewhl_r_joint"]
enable_odom_tf: true
odom_frame_id: odom
base_frame_id: base_footprint
open_loop: true
wheel_separation: 0.258
wheel_radius: 0.0375