From fc62eb2a832511b5bd3a879fd675f0dc729854eb Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Fri, 27 Feb 2026 14:45:17 +0800
Subject: [PATCH] =?UTF-8?q?=E5=85=B3=E9=97=ADcanfd=E4=BF=AE=E6=94=B9can?=
 =?UTF-8?q?=E7=AB=AF=E5=8F=A3=E5=8F=B7?=
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---
 urdf/robot/openarm_robot.xacro                        | 6 +++---
 urdf/robot/v10.urdf.xacro                             | 8 ++++----
 urdf/ros2_control/openarm.bimanual.ros2_control.xacro | 6 +++---
 urdf/ros2_control/openarm.ros2_control.xacro          | 2 +-
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/urdf/robot/openarm_robot.xacro b/urdf/robot/openarm_robot.xacro
index e0ff3a9..29f629a 100644
--- a/urdf/robot/openarm_robot.xacro
+++ b/urdf/robot/openarm_robot.xacro
@@ -32,11 +32,11 @@
             left_arm_base_xyz='0 0 0'
             right_arm_base_rpy='0 0 0'
             left_arm_base_rpy='0 0 0'
-            left_can_interface:='can1'
-            right_can_interface:='can0'
+            left_can_interface:='can5'
+            right_can_interface:='can4'
             left_arm_prefix:='left_'
             right_arm_prefix:='right_'
-            can_fd:='true'
+            can_fd:='false'
             "
             >
 
diff --git a/urdf/robot/v10.urdf.xacro b/urdf/robot/v10.urdf.xacro
index fc0420a..d7daaa9 100644
--- a/urdf/robot/v10.urdf.xacro
+++ b/urdf/robot/v10.urdf.xacro
@@ -25,12 +25,12 @@
 
   <xacro:arg name="ros2_control" default="false" />
 
-  <xacro:arg name="can_interface" default="can0" />
+  <xacro:arg name="can_interface" default="can4" />
 
   <xacro:arg name="left_can_interface" default="can1" />
 
-  <xacro:arg name="right_can_interface" default="can0" />
-
+  <xacro:arg name="right_can_interface" default="can4" />
+  
   <xacro:arg name="left_arm_prefix" default="left_" />
 
   <xacro:arg name="right_arm_prefix" default="right_" />
@@ -47,7 +47,7 @@
   <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:arg name="can_fd" default="false" />
 
   <xacro:openarm_robot
   arm_type="v10"
diff --git a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
index 56916e5..9223d55 100644
--- a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
@@ -4,14 +4,14 @@
 <xacro:macro name="openarm_bimanual_ros2_control"
          params="arm_type
              control_gains
-             left_can_interface:=^|can1
-             right_can_interface:=^|can0
+             left_can_interface:=^|can5
+             right_can_interface:=^|can4
              use_fake_hardware:=^|false
              fake_sensor_commands:=^|false
              hand:=^|false
              left_arm_prefix:=^|left_
              right_arm_prefix:=^|right_
-             can_fd:=^|true">
+             can_fd:=^|false">
 
     <!-- Left Arm Hardware Interface -->
     <ros2_control name="openarm_left_hardware_interface" type="system">
diff --git a/urdf/ros2_control/openarm.ros2_control.xacro b/urdf/ros2_control/openarm.ros2_control.xacro
index 223c331..3c80700 100644
--- a/urdf/ros2_control/openarm.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.ros2_control.xacro
@@ -11,7 +11,7 @@
              gazebo_effort:=^|false
              arm_prefix:=''
              bimanual:=false
-             can_fd:=^|true">
+             can_fd:=^|false">
 
     <ros2_control name="openarm_hardware_interface" type="system">
         <hardware>