Fix urdf

cyberbotics · Dec 11, 2024 · 1540a91 · 1540a91
1 parent 19a481a
commit 1540a91
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
@@ -146,7 +146,15 @@ namespace webots_ros2_control {
       rclcpp_lifecycle::State active_state(State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
       resourceManager->set_component_state(controlHardware[i].name, active_state);
 
-      resourceManager->load_urdf(urdfString, false, false);
+      resourceManager->load_urdf(
+          "<robot name=\"default_robot\">"
+          "  <ros2_control name=\"default_control\" type=\"hardware_interface/DefaultHardware\">"
+          "    <hardware>"
+          "      <plugin>hardware_interface/DefaultPlugin</plugin>"
+          "    </hardware>"
+          "  </ros2_control>"
+          "</robot>",
+          false, false);
     }
 #endif