Changed serial port and how yaml file is configured

Ensmasteel · Apr 22, 2024 · 26ef33e · 26ef33e
1 parent 6c9b621
commit 26ef33e
Show file tree

Hide file tree

Showing 3 changed files with 14 additions and 12 deletions.
diff --git a/src/ezbot_robot/config/controllers.yaml b/src/ezbot_robot/config/controllers.yaml
@@ -11,17 +11,18 @@ controller_manager:
 
 omnidirectional_controller:
   ros__parameters:
-    joints:
-      - roue_avant_joint
-      - roue_gauche_joint
-      - roue_arriere_joint
-      - roue_droite_joint
-
-    wheel_names: 
-      - roue_avant_joint
-      - roue_gauche_joint
-      - roue_arriere_joint
-      - roue_droite_joint
+    joints: [
+      roue_avant_joint,
+      roue_gauche_joint,
+      roue_arriere_joint,
+      roue_droite_joint]
+
+
+    wheel_names: [
+      roue_avant_joint,
+      roue_gauche_joint,
+      roue_arriere_joint,
+      roue_droite_joint]
 
     robot_radius: 0.25
     wheel_radius: 0.03

diff --git a/src/ezbot_robot/description/ros2_control.xacro b/src/ezbot_robot/description/ros2_control.xacro
@@ -12,7 +12,7 @@
             <param name="right_wheel_name">roue_droite_joint</param>
 
             <param name="loop_rate">30.0</param>
-            <param name="device">/dev/pts/7</param>
+            <param name="device">/dev/ttyAMA3</param>
             <param name="baudrate">115200</param>
 
             <param name="timeout_ms">10000</param>

diff --git a/src/ezbot_robot/package.xml b/src/ezbot_robot/package.xml
@@ -14,6 +14,7 @@
   <depend>std_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
+  <!-- TODO add controller manager dependency-->
   <!--
     removed opencv, even though we need it-->
   <depend>rclpy</depend>