Made basic interfacing with odrive

2024-10-18 00:18:52 +02:00
parent a5106aaaba
commit 7019f3db16
4 changed files with 48 additions and 5 deletions
--- a/mg_wheel_interface/assets/mg_base.urdf
+++ b/mg_wheel_interface/assets/mg_base.urdf
@ -57,8 +57,7 @@

    <ros2_control name="mg-base" type="system">
        <hardware>
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="calculate_dynamics">true</param>
+            <plugin>mg_wheel_interface/MgOdriveInterface</plugin>
        </hardware>
        <joint name="left_motor">
            <command_interface name="velocity"/>
--- a/mg_wheel_interface/assets/mg_base_controllers.yaml
+++ b/mg_wheel_interface/assets/mg_base_controllers.yaml
@ -16,5 +16,7 @@ diffdrive_controller:
    odom_frame_id: odom
    base_frame_id: base-link

+    open_loop: true 
+
    wheel_separation: 0.5
    wheel_radius: 0.1