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fixed mock hardware for botwheel explorer #28

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fixed mock hardware for botwheel explorer #28

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f4c7057
fixed mock hardware for botwheel explorer
ErikParkerrr Sep 17, 2024
c6877bb
Add service to clear errors
Mar 15, 2024
73dc509
changed torque to effort to match hardware interface
ErikParkerrr Oct 12, 2024
6b267f3
added use_mock_hardware and use_rviz launch arguemtns back in
ErikParkerrr Oct 13, 2024
2c3dde7
added materials file from ros2_control_examples
ErikParkerrr Oct 13, 2024
7039070
Merge pull request #1 from ErikParkerrr/pr-28
ErikParkerrr Oct 13, 2024
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15 changes: 14 additions & 1 deletion odrive_botwheel_explorer/description/urdf/diffbot.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,25 @@
</xacro:if>
<joint name="${prefix}left_wheel_joint">
<param name="node_id">0</param>
<command_interface name="velocity"/>
<command_interface name="position"/>
<command_interface name="torque"/>
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torque needs to be renamed to effort (4x). Otherwise, when I try it with the real hardware interface, it crashes with:

[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  Wrong state or command interface configuration.
[ros2_control_node-1] missing state interfaces:
[ros2_control_node-1] ' left_wheel_joint/torque '       ' right_wheel_joint/torque '
[ros2_control_node-1] missing command interfaces:
[ros2_control_node-1] ' left_wheel_joint/torque '       ' right_wheel_joint/torque '

<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="torque"/>
</joint>
<joint name="${prefix}right_wheel_joint">
<param name="node_id">1</param>
<command_interface name="velocity"/>
<command_interface name="position"/>
<command_interface name="torque"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="torque"/>
</joint>

</ros2_control>

</xacro:macro>

</robot>
</robot>
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