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Added position interface for joint state publisher

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Pimpest
2026-02-08 00:56:27 +01:00
parent 31bf071476
commit d12dda5f86
1 changed files with 4 additions and 2 deletions
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6
toid_bot_description/src/toid_bot_control.xacro
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@@ -11,17 +11,19 @@
</xacro:unless> </xacro:unless>
<xacro:if value="${use_mock_hardware}"> <xacro:if value="${use_mock_hardware}">
<hardware> <hardware>
<plugin>mock_components/GenericSystem</plugin> <plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param> <param name="calculate_dynamics">true</param>
</hardware> </hardware>
</xacro:if> </xacro:if>
<joint name="drivewhl_l_joint"> <joint name="drivewhl_l_joint">
<command_interface name="velocity"/> <command_interface name="velocity"/>
<state_interface name="position"/>
</joint> </joint>
<joint name="drivewhl_r_joint"> <joint name="drivewhl_r_joint">
<command_interface name="velocity"/> <command_interface name="velocity"/>
<state_interface name="position"/>
</joint> </joint>
</ros2_control> </ros2_control>