Magnezijum-Robotics/magrob
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First flake environment

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Pimpest
2025-11-06 15:59:22 +01:00
parent 8648a96bce
commit d8b55f08de
33 changed files with 371 additions and 26 deletions
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4
mg_control/include/mg_control/mg_control.hpp
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@ -3,7 +3,7 @@
#include <vector>
#include <string>
#include "libserial/SerialPort.h"
//#include "libserial/SerialPort.h"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/system_interface.hpp"
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
@ -26,7 +26,7 @@ namespace mg {
private:
std::string serial_port_name;
LibSerial::SerialPort odrive_serial_interface;
// LibSerial::SerialPort odrive_serial_interface;
double left_wheel_vel_cmd = 0;
double left_wheel_pos_state = 0;