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Switched to using serial ports by id for control

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Pimpest
2026-04-16 04:30:21 +02:00
parent 12a83e876a
commit 733a774c37
4 changed files with 91 additions and 75 deletions
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3
toid_bot_description/src/toid_bot_control.xacro
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@@ -1,12 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="toid_control" params="name:=toid_control use_mock_hardware:=^|true">
<xacro:macro name="toid_control" params="name:=toid_control use_mock_hardware:=^|true serial_port:=/dev/ttyACM0">
<ros2_control name="${name}" type="system">
<xacro:unless value="${use_mock_hardware}">
<hardware>
<plugin>toid_control/StepperInterface</plugin>
<param name="serial_port">${serial_port}</param>
</hardware>
</xacro:unless>
<xacro:if value="${use_mock_hardware}">

2
toid_bot_description/src/toid_bot_description.urdf
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@@ -125,6 +125,6 @@
<xacro:cstr prefix="right" y_reflect="-1" />
<xacro:include filename="$(find toid_bot_description)/src/toid_bot_control.xacro"/>
<xacro:toid_control name="toid_bot_control" use_mock_hardware="$(arg use_mock)"/>
<xacro:toid_control name="toid_bot_control" use_mock_hardware="$(arg use_mock)" serial_port="$(arg serial_port)"/>
</robot>