Magnezijum-Robotics/magrob
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Added new robot descriptions for Robotoid

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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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4
mg_odometry/src/mg_odom_publisher.cpp
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@@ -23,7 +23,7 @@
#define TIMEOUT 10u
constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM0";
using SendDoubleSrv = mg_msgs::srv::SendDouble;
using ZeroSrv = std_srvs::srv::Empty;
@@ -32,7 +32,7 @@ class MgOdomPublisher : public rclcpp::Node {
public:
MgOdomPublisher() : Node("mg_odom_publisher") {
this->declare_parameter("odom", "odom");
this->declare_parameter("target", "base-link");
this->declare_parameter("target", "base_footprint");
this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);