From ab816fc11c62b19fa6206469f3c2a9b6dd6adc62 Mon Sep 17 00:00:00 2001
From: Abe Tomoaki <abe@clear-code.com>
Date: Fri, 26 Sep 2025 22:18:53 +0900
Subject: [PATCH] urdf: Pass `can_fd` parameter to `openarm_arm_ros2_control`
 macro (#23)

GitHub fixes GH-21

`can_fd` option can be specified on the command line.
---
 urdf/robot/openarm_robot.xacro | 4 +++-
 urdf/robot/v10.urdf.xacro      | 3 +++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/urdf/robot/openarm_robot.xacro b/urdf/robot/openarm_robot.xacro
index b18b44f..9b2049f 100644
--- a/urdf/robot/openarm_robot.xacro
+++ b/urdf/robot/openarm_robot.xacro
@@ -35,6 +35,7 @@
             right_can_interface:='can0'
             left_arm_prefix:='left_'
             right_arm_prefix:='right_'
+            can_fd:='true'
             "
             >
 
@@ -164,7 +165,8 @@
             use_fake_hardware="${use_fake_hardware}"
             fake_sensor_commands="${fake_sensor_commands}"
             hand="${hand}"
-            bimanual="false"/>
+            bimanual="false"
+            can_fd="${can_fd}"/>
         </xacro:if>
 
         <xacro:if value="${hand and ee_type == 'openarm_hand'}">
diff --git a/urdf/robot/v10.urdf.xacro b/urdf/robot/v10.urdf.xacro
index 09682ca..e313586 100644
--- a/urdf/robot/v10.urdf.xacro
+++ b/urdf/robot/v10.urdf.xacro
@@ -47,6 +47,8 @@
   <xacro:arg name="left_arm_base_xyz" default="0.0 0.031 0.698" />
   <xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" />
 
+  <xacro:arg name="can_fd" default="true" />
+
   <xacro:openarm_robot
   arm_type="v10"
   body_type="v10"
@@ -79,6 +81,7 @@
   left_arm_base_xyz="$(arg left_arm_base_xyz)"
   right_arm_base_rpy="$(arg right_arm_base_rpy)"
   left_arm_base_rpy="$(arg left_arm_base_rpy)"
+  can_fd="$(arg can_fd)"
   />
 
 </robot>