From 405195b9a105d43b05308c0ea787f04ced2fc932 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Thu, 16 Apr 2026 04:55:28 +0200
Subject: [PATCH] Fixed toid_bot_control device_path parameter

---
 toid_bot_description/src/toid_bot_control.xacro    | 2 +-
 toid_bot_description/src/toid_bot_description.urdf | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/toid_bot_description/src/toid_bot_control.xacro b/toid_bot_description/src/toid_bot_control.xacro
index 7ab6048..9262876 100644
--- a/toid_bot_description/src/toid_bot_control.xacro
+++ b/toid_bot_description/src/toid_bot_control.xacro
@@ -7,7 +7,7 @@
       <xacro:unless value="${use_mock_hardware}">
         <hardware>
             <plugin>toid_control/StepperInterface</plugin>
-            <param name="serial_port">${serial_port}</param>
+            <param name="device_path">${serial_port}</param>
         </hardware>
       </xacro:unless>
       <xacro:if value="${use_mock_hardware}">
diff --git a/toid_bot_description/src/toid_bot_description.urdf b/toid_bot_description/src/toid_bot_description.urdf
index 7c24d29..520af05 100644
--- a/toid_bot_description/src/toid_bot_description.urdf
+++ b/toid_bot_description/src/toid_bot_description.urdf
@@ -2,6 +2,7 @@
 <robot name="toid_bot" xmlns:xacro="http://ros.org/wiki/xacro">
 
 <xacro:arg name="use_mock" default="true" />
+<xacro:arg name="serial_port" default="/dev/ttyACM0" />
 
 <xacro:property name="base_width" value="0.30"/>
 <xacro:property name="base_length" value="0.30"/>