ros2_control - Kraft2k/icebox-rover GitHub Wiki

<xacro:unless value="$(arg sim_mode)">
    <ros2_control name="RealRobot" type="system">
        <hardware>
            <plugin>fake_components/GenericSystem</plugin>
        </hardware>
        
        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
    </ros2_control>
</xacro:unless>

<xacro:if value="$(arg sim_mode)">
    <ros2_control name="GazeboSystem" type="system">
        <hardware>
            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
        </hardware>
        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
    </ros2_control>
</xacro:if>

<gazebo>
    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
        <parameters>$(find articubot_one)/config/my_controllers.yaml</parameters>
        <parameters>$(find articubot_one)/config/gaz_ros2_ctl_use_sim.yaml</parameters>
    </plugin>
</gazebo>