First flake environment

mg_control/src/mg_control.cpp

@@ -8,11 +8,13 @@ CallbackReturn mg::MgStepperInterface::on_init(const hardware_interface::Hardwar
         return CallbackReturn::ERROR;
     }
 
+    /*
     if (info_.hardware_parameters.find("device_path") != info.hardware_parameters.end()) {
         serial_port_name = info_.hardware_parameters["device_path"];
     } else {
         serial_port_name = "/dev/ttyACM1";
     }
+    */
 
     left_wheel_pos_state  = 0;
     right_wheel_pos_state = 0;
@@ -22,6 +24,7 @@ CallbackReturn mg::MgStepperInterface::on_init(const hardware_interface::Hardwar
 }
 
 CallbackReturn mg::MgStepperInterface::on_configure(const rclcpp_lifecycle::State&) {
+    /*
     try {
         if (!odrive_serial_interface.IsOpen()) {
             odrive_serial_interface.Open(serial_port_name);
@@ -31,13 +34,16 @@ CallbackReturn mg::MgStepperInterface::on_configure(const rclcpp_lifecycle::Stat
                      "Failed to open serial port (Is the stepper driver plugged in)");
         return CallbackReturn::ERROR;
     }
+    */
     return CallbackReturn::SUCCESS;
 }
 
 CallbackReturn mg::MgStepperInterface::on_shutdown(const rclcpp_lifecycle::State&) {
+    /*
     if (odrive_serial_interface.IsOpen()) {
         odrive_serial_interface.Close();
     }
+    */
     return CallbackReturn::SUCCESS;
 }
 
@@ -66,6 +72,7 @@ hardware_interface::return_type mg::MgStepperInterface::read(const rclcpp::Time&
 }
 
 hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time&, const rclcpp::Duration&) {
+    /*
     union {
         std::array<u_char, sizeof(double)> bytes;
         double                             data;
@@ -79,5 +86,6 @@ hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time
         for (const auto& bt : value.bytes) { odrive_serial_interface.WriteByte(bt); }
 
     } catch (const std::runtime_error& e) { return hardware_interface::return_type::ERROR; }
+    */
     return hardware_interface::return_type::OK;
 }