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added rover updates to latest #118

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Merged
umdloop-admin merged 1 commit into from
May 10, 2026
Merged

added rover updates to latest #118

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2 changes: 1 addition & 1 deletion src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<ros2_control name="${name}" type="system">
<hardware>
<plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
<param name="can">can0</param>
<param name="can">can1</param>
</hardware>

<joint name="steer_bl_joint">
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10 changes: 5 additions & 5 deletions src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<param name="update_rate">30</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">can1</param>
</hardware>

<joint name="propulsion_fl_joint">
Expand Down Expand Up @@ -37,9 +37,9 @@
</joint>

<joint name="propulsion_bl_joint">
<param name="node_id">0x144</param>
<param name="node_id">0x15E</param>
<param name="gear_ratio">1</param>
<param name="joint_orientation">-1.0</param>
<param name="joint_orientation">1.0</param>
<param name="operating_velocity">150</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
Expand All @@ -50,9 +50,9 @@
</joint>

<joint name="propulsion_br_joint">
<param name="node_id">0x141</param>
<param name="node_id">0x159</param>
<param name="gear_ratio">1</param>
<param name="joint_orientation">1.0</param>
<param name="joint_orientation">-1.0</param>
<param name="operating_velocity">150</param> <!-- motor dps -->
<command_interface name="position"/>
<command_interface name="velocity"/>
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