Reverted to 2wd diffbot

Author: joseluizmendonca

docker/docker-compose.yml

@@ -23,5 +23,4 @@ services:
         - |
           source /opt/ros/jazzy/setup.bash
           source /root/ros2_ws/install/setup.bash
-          tail -f /dev/null
-          #ros2 launch ros2_control_demo_example_2 diffbot.launch.py
+          ros2 launch ros2_control_demo_example_2 diffbot.launch.py

ros2_control_demos/example_2/CMakeLists.txt

@@ -51,10 +51,6 @@ install(
   DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_2
 )
-install(
-  DIRECTORY ros2_control
-  DESTINATION share/ros2_control_demo_example_2
-)
 install(
   DIRECTORY bringup/launch bringup/config
   DESTINATION share/ros2_control_demo_example_2

ros2_control_demos/example_2/bringup/config/diffbot_controllers.yaml

@@ -10,10 +10,11 @@ controller_manager:
 
 diffbot_base_controller:
   ros__parameters:
-    left_wheel_names: ["front_left_wheel_joint", "rear_left_wheel_joint"]
-    right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"]
+    left_wheel_names: ["left_wheel_joint"]
+    right_wheel_names: ["right_wheel_joint"]
 
     wheel_separation: 0.10
+    wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
     wheel_radius: 0.015
 
     wheel_separation_multiplier: 1.0

ros2_control_demos/example_2/bringup/launch/diffbot_4wheels.launch.py

@@ -1,24 +1,21 @@
 <?xml version="1.0"?>
-<!-- Basic differential drive mobile base with 4 wheels -->
+<!-- Basic differential drive mobile base -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffdrive_robot">
   <xacro:arg name="prefix" default="" />
   <xacro:arg name="use_mock_hardware" default="false" />
   <xacro:arg name="use_sim_time" default="false" />
 
-  <xacro:include filename="$(find ros2_control_demo_description)/diffbot/urdf/diffbot_description_4wheels.urdf.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/diffbot/urdf/diffbot_description.urdf.xacro" />
 
   <!-- Import Rviz colors -->
   <xacro:include filename="$(find ros2_control_demo_description)/diffbot/urdf/diffbot.materials.xacro" />
 
   <!-- Import diffbot ros2_control description -->
-  <xacro:include filename="$(find ros2_control_demo_example_2)/ros2_control/diffbot_4wheels.ros2_control.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_example_2)/ros2_control/diffbot.ros2_control.xacro" />
 
-  <xacro:diffbot_4wheels prefix="$(arg prefix)" />
+  <xacro:diffbot prefix="$(arg prefix)" />
 
   <xacro:diffbot_ros2_control
-    name="DiffBot"
-    prefix="$(arg prefix)"
-    use_mock_hardware="$(arg use_mock_hardware)"
-    use_sim_time="$(arg use_sim_time)"/>
+    name="DiffBot" prefix="$(arg prefix)" use_mock_hardware="$(arg use_mock_hardware)" use_sim_time="$(arg use_sim_time)"/>
 
 </robot>