From eb259fe8fbd0c01342ea2375eb1c4906140e30dc Mon Sep 17 00:00:00 2001
From: Robert <42467734+Betacrucis@users.noreply.github.com>
Date: Wed, 1 May 2024 14:04:33 +1000
Subject: [PATCH] Update dynamixel_hardware.cpp

Change the port name for the serial port from "usb_port" to "port_name" to correspond with the variable name in DynamixelSDK.
---
 dynamixel_hardware/src/dynamixel_hardware.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dynamixel_hardware/src/dynamixel_hardware.cpp b/dynamixel_hardware/src/dynamixel_hardware.cpp
index 720db9e..f6f06a3 100644
--- a/dynamixel_hardware/src/dynamixel_hardware.cpp
+++ b/dynamixel_hardware/src/dynamixel_hardware.cpp
@@ -81,7 +81,7 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
     return CallbackReturn::SUCCESS;
   }
 
-  auto usb_port = info_.hardware_parameters.at("usb_port");
+  auto usb_port = info_.hardware_parameters.at("port_name");
   auto baud_rate = std::stoi(info_.hardware_parameters.at("baud_rate"));
   const char * log = nullptr;