From c00cb189ca3660eac5775c46f33e137f0841659d Mon Sep 17 00:00:00 2001
From: davidcalderon03 <davidcalderon03@hotmail.com>
Date: Mon, 20 Nov 2023 21:54:42 -0500
Subject: [PATCH] Added gazebo controllers yaml

---
 .../config/gazebo_controllers.yaml            | 68 +++++++++++++++++++
 urc_hw_description/urdf/ros2_control.xacro    |  6 +-
 2 files changed, 71 insertions(+), 3 deletions(-)
 create mode 100644 urc_hw_description/config/gazebo_controllers.yaml

diff --git a/urc_hw_description/config/gazebo_controllers.yaml b/urc_hw_description/config/gazebo_controllers.yaml
new file mode 100644
index 00000000..df381468
--- /dev/null
+++ b/urc_hw_description/config/gazebo_controllers.yaml
@@ -0,0 +1,68 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 30
+    use_sim_time: true
+
+    diff_cont:
+      type: diff_drive_controller/DiffDriveController
+
+    joint_broad:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diff_cont:
+  ros__parameters:
+
+    publish_rate: 50.0
+
+    base_frame_id: base_link
+
+    left_wheel_names: ['left_front_wheel_joint', 'left_center_wheel_joint', 'left_rear_wheel_joint']
+    right_wheel_names: ['right_front_wheel_joint', 'right_center_wheel_joint', 'right_rear_wheel_joint']
+    wheel_separation: 0.05
+    wheel_radius: 0.03
+
+    use_stamped_vel: false
+
+    # open_loop: false    
+
+    wheels_per_side: 3
+    # wheel_separation_multiplier: x
+    # left_wheel_radius_multiplier: x
+    # right_wheel_radius_multiplier: x
+
+    # odom_frame_id: x
+    # pose_covariance_diagonal: x
+    # twist_covariance_diagonal: x
+    # open_loop: x
+    # enable_odom_tf: x
+
+    # cmd_vel_timeout: x
+    # publish_limited_velocity: x
+    # velocity_rolling_window_size: x
+
+
+    # linear.x.has_velocity_limits: false
+    # linear.x.has_acceleration_limits: false
+    # linear.x.has_jerk_limits: false
+    # linear.x.max_velocity: NAN
+    # linear.x.min_velocity: NAN
+    # linear.x.max_acceleration: NAN
+    # linear.x.min_acceleration: NAN
+    # linear.x.max_jerk: NAN
+    # linear.x.min_jerk: NAN
+
+    # angular.z.has_velocity_limits: false
+    # angular.z.has_acceleration_limits: false
+    # angular.z.has_jerk_limits: false
+    # angular.z.max_velocity: NAN
+    # angular.z.min_velocity: NAN
+    # angular.z.max_acceleration: NAN
+    # angular.z.min_acceleration: NAN
+    # angular.z.max_jerk: NAN
+    # angular.z.min_jerk: NAN
+
+
+
+
+# joint_broad:
+#   ros__parameters:
\ No newline at end of file
diff --git a/urc_hw_description/urdf/ros2_control.xacro b/urc_hw_description/urdf/ros2_control.xacro
index 8d458506..0220b858 100644
--- a/urc_hw_description/urdf/ros2_control.xacro
+++ b/urc_hw_description/urdf/ros2_control.xacro
@@ -1,6 +1,6 @@
-<!-- Gazebo Configuration -->
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Gazebo Configuration -->
     <ros2_control name="GazeboSystem" type="system">
         <hardware>
             <!-- TODO make a launch param to switch between real/fake hardware. You can only use ONE. -->
@@ -232,8 +232,8 @@
 
     <gazebo>
         <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-            <parameters>$(find urc_gazebo)/config/my_controllers.yaml</parameters>
-            <!-- Below is the one needed for the arm -->
+            <parameters>$(find urc_hw_description)/config/gazebo_controllers.yaml</parameters>
+            <!-- Below is the one needed for the arm (maybe) -->
             <!-- <parameters>file://$(find urc_gazebo)/urdf/config/RoboticArm_params.yaml</parameters> -->
         </plugin>
     </gazebo>