Adding flippers and odrive feedback

clubcapra · Oct 7, 2024 · d589799 · d589799
1 parent 7c26e80
commit d589799
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/src/rove_description/urdf/rove.ros2_control.urdf.xacro b/src/rove_description/urdf/rove.ros2_control.urdf.xacro
@@ -7,6 +7,8 @@
             <state_interface name="position"/>
             <state_interface name="velocity"/>
             <state_interface name="effort"/>
+            <state_interface name="voltage"/>
+            <state_interface name="current"/>
         </joint>
     </xacro:macro>
 
@@ -16,6 +18,8 @@
             <state_interface name="position"/>
             <state_interface name="velocity"/>
             <state_interface name="effort"/>
+            <state_interface name="voltage"/>
+            <state_interface name="current"/>
         </joint>
     </xacro:macro>
 

diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
@@ -16,8 +16,8 @@
     <xacro:include filename="$(find rove_description)/urdf/flipper.urdf.xacro" />
     <xacro:include filename="$(find rove_description)/urdf/track.urdf.xacro" />
     <xacro:include filename="$(find rove_description)/urdf/rove.ros2_control.urdf.xacro" />
-
     <!-- <xacro:include filename="$(find ovis_description)/urdf/ovis.urdf.xacro" /> -->
+
 
     <link name="base_link">
         <visual>