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}">

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"/>