mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 23:55:09 +00:00
67 lines
2.7 KiB
Plaintext
67 lines
2.7 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:unless value="$(arg sim_mode)">
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<ros2_control name="RealRobot" type="system">
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<hardware>
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<plugin>diffdrive_arduino/DiffDriveArduino</plugin>
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<param name="left_wheel_name">left_wheel_joint</param>
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<param name="right_wheel_name">right_wheel_joint</param>
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<param name="loop_rate">30</param>
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<param name="device">/dev/ttyUSB0</param>
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<param name="baud_rate">57600</param>
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<param name="timeout">1000</param>
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<param name="enc_counts_per_rev">3436</param>
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</hardware>
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<joint name="left_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="right_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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</ros2_control>
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</xacro:unless>
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<xacro:if value="$(arg sim_mode)">
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>
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</hardware>
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<joint name="left_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="right_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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</ros2_control>
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</xacro:if>
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<gazebo>
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<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
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<parameters>$(find segway_rmp220_support)/config/my_controllers.yaml</parameters>
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<parameters>$(find segway_rmp220_support)/config/gaz_ros2_ctl_use_sim.yaml</parameters>
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</plugin>
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</gazebo>
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</robot>
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