Enabled both hardware tags for arm

RoboJackets · Jul 29, 2023 · 06b0a4d · 06b0a4d
1 parent 914fdd4
commit 06b0a4d
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Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/urc_arm_moveit_config/config/WalliiArmV3.ros2_control.xacro b/urc_arm_moveit_config/config/WalliiArmV3.ros2_control.xacro
@@ -5,10 +5,9 @@
 
         <ros2_control name="${name}" type="system">
             <hardware>
-                <!-- TODO make a launch param to switch between real/fake hardware -->
-                <!-- gazebo_ros2_control/GazeboSystem -->
-                <!-- mock_components/GenericSystem -->
-                <plugin>mock_components/GenericSystem</plugin>
+                <!-- TODO make a launch param to switch between real/fake hardware. You can only use ONE. -->
+              <plugin>gazebo_ros2_control/GazeboSystem</plugin> <!-- Use for functionality in Gazebo -->
+              <!-- <plugin>mock_components/GenericSystem</plugin> --> <!--Use for functionality in RVIZ2-->
             </hardware>
             <joint name="shoulderjoint">
                 <command_interface name="position"/>

diff --git a/urc_gazebo/urdf/WalliiArmV3.urdf b/urc_gazebo/urdf/WalliiArmV3.urdf
@@ -558,10 +558,9 @@
 
   <ros2_control name="arm_control" type="system">
     <hardware>
-      <!-- TODO make a launch param to switch between real/fake hardware -->
-      <!-- gazebo_ros2_control/GazeboSystem -->
-      <!-- mock_components/GenericSystem -->
-      <plugin>mock_components/GenericSystem</plugin>
+      <!-- TODO make a launch param to switch between real/fake hardware. You can only use ONE. -->
+      <plugin>gazebo_ros2_control/GazeboSystem</plugin> <!--Use for functionality in Gazebo-->
+      <!--<plugin>mock_components/GenericSystem</plugin>--> <!--Use for functionality in Gazebo-->
       <plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
     </hardware>