init

toid_bot_description/src/toid_bot_control.xacro

@@ -0,0 +1,35 @@
+<?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">
+
+    <ros2_control name="${name}" type="system">
+      <xacro:unless value="${use_mock_hardware}">
+        <hardware>
+            <!-- plugin would eventually go here-->
+        </hardware>
+      </xacro:unless>
+      <xacro:if value="${use_mock_hardware}">
+        <hardware>
+          <plugin>mock_components/GenericSystem</plugin>
+          <param name="calculate_dynamics">true</param>
+        </hardware>
+      </xacro:if>
+
+      <joint name="drivewhl_l_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+      <joint name="drivewhl_r_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+
+</robot>