Added position interface for joint state publisher

2026-02-08 00:56:27 +01:00
parent 31bf071476
commit d12dda5f86
1 changed files with 4 additions and 2 deletions
--- a/toid_bot_description/src/toid_bot_control.xacro
+++ b/toid_bot_description/src/toid_bot_control.xacro
@@ -11,17 +11,19 @@
      </xacro:unless>
      <xacro:if value="${use_mock_hardware}">
        <hardware>
-          <plugin>mock_components/GenericSystem</plugin>
-          <param name="calculate_dynamics">true</param>
+          <plugin>mock_components/GenericSystem</plugin> 
+          <param name="calculate_dynamics">true</param> 
        </hardware>
      </xacro:if>

      <joint name="drivewhl_l_joint">
        <command_interface name="velocity"/>
+        <state_interface name="position"/>
      </joint>

      <joint name="drivewhl_r_joint">
        <command_interface name="velocity"/>
+        <state_interface name="position"/>
      </joint>

    </ros2_control>