unknown changes

urc_gazebo/config/my_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: 0.05
+
+    use_stamped_vel: false
+
+    # open_loop: false    
+
+    # wheels_per_side: x
+    # 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:

urc_gazebo/urdf/ros2_control.xacro

@@ -6,15 +6,47 @@
         <hardware>
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
         </hardware>
-        <joint name="left_wheel_joint">
+        <joint name="left_front_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">
+        <joint name="right_front_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="left_center_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_center_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="left_rear_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_rear_wheel_joint">
             <command_interface name="velocity">
                 <param name="min">-10</param>
                 <param name="max">10</param>
@@ -25,8 +57,8 @@
     </ros2_control>
 
     <gazebo>
-        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-            <parameters>$(find articubot_one)/config/my_controllers.yaml</parameters>
+        <plugin name="gazebo_ros2_control/user" filename="libgazebo_ros2_control.so">
+            <parameters>$(find urc_gazebo)/config/my_controllers.yaml</parameters>
         </plugin>
     </gazebo>
 

urc_gazebo/urdf/walli.xacro

@@ -4,6 +4,8 @@
   <xacro:include filename="walli_inertials.xacro"/>
   <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
   <xacro:include filename="walli_arm.urdf"/>
+  <xacro:include filename="ros2_control.xacro"/>
+
 
   <!-- Rover Base Link -->
   <link name="base_link">