Add six-wheel simplified model

RoboJackets · Jan 21, 2024 · c99dcff · c99dcff
1 parent 2d054eb
commit c99dcff
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Showing 3 changed files with 444 additions and 2 deletions.
diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py
@@ -27,7 +27,7 @@ def generate_launch_description():
     use_simulation = hardware_config['hardware_config']['use_simulation']
 
     controller_config_file_dir = os.path.join(
-        pkg_urc_bringup, 'config', 'ros2_control_simple.yaml'
+        pkg_urc_bringup, 'config', 'ros2_control_walli.yaml'
     )
 
     default_rviz_config_path = os.path.join(
@@ -179,6 +179,7 @@ def generate_launch_description():
             robot_state_publisher_node,
             joint_state_publisher_node,
             joint_state_publisher_gui_node,
+            load_drivetrain_controller,
             spawn_robot,
             rviz_node,
             navigation_nodes

diff --git a/urc_hw_description/urdf/robot.xacro b/urc_hw_description/urdf/robot.xacro
@@ -10,7 +10,7 @@
         value="${config_data['hardware_config']['use_simplified_model']}" />
 
     <xacro:if value="${use_simplified_model}">
-        <xacro:include filename="$(find urc_hw_description)/urdf/diff_drive.xacro" />
+        <xacro:include filename="$(find urc_hw_description)/urdf/six_wheel_simplified.xacro" />
     </xacro:if>
 
     <xacro:if value="${not use_simplified_model}">