From 26ef33e30d836b2bd5ad1ffafb7ad0944f01e733 Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Tue, 23 Apr 2024 00:19:11 +0200
Subject: [PATCH] Changed serial port and how yaml file is configured

---
 src/ezbot_robot/config/controllers.yaml       | 23 ++++++++++---------
 .../description/ros2_control.xacro            |  2 +-
 src/ezbot_robot/package.xml                   |  1 +
 3 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/src/ezbot_robot/config/controllers.yaml b/src/ezbot_robot/config/controllers.yaml
index f65595a..c49f3cd 100644
--- 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
index db70423..75a4175 100644
--- 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
index 306b3cf..97647de 100644
--- 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>