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关闭canfd修改can端口号
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This commit is contained in:
shen 2026-02-27 14:45:17 +08:00
parent 73ca62f3e4
commit fc62eb2a83
4 changed files with 11 additions and 11 deletions
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6
urdf/robot/openarm_robot.xacro
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@ -32,11 +32,11 @@
left_arm_base_xyz='0 0 0' left_arm_base_xyz='0 0 0'
right_arm_base_rpy='0 0 0' right_arm_base_rpy='0 0 0'
left_arm_base_rpy='0 0 0' left_arm_base_rpy='0 0 0'
left_can_interface:='can1' left_can_interface:='can5'
right_can_interface:='can0' right_can_interface:='can4'
left_arm_prefix:='left_' left_arm_prefix:='left_'
right_arm_prefix:='right_' right_arm_prefix:='right_'
can_fd:='true' can_fd:='false'
" "
> >

8
urdf/robot/v10.urdf.xacro
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@ -25,12 +25,12 @@
<xacro:arg name="ros2_control" default="false" /> <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="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="left_arm_prefix" default="left_" />
<xacro:arg name="right_arm_prefix" default="right_" /> <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_xyz" default="0.0 0.031 0.698" />
<xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" /> <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 <xacro:openarm_robot
arm_type="v10" arm_type="v10"

6
urdf/ros2_control/openarm.bimanual.ros2_control.xacro
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@ -4,14 +4,14 @@
<xacro:macro name="openarm_bimanual_ros2_control" <xacro:macro name="openarm_bimanual_ros2_control"
params="arm_type params="arm_type
control_gains control_gains
left_can_interface:=^|can1 left_can_interface:=^|can5
right_can_interface:=^|can0 right_can_interface:=^|can4
use_fake_hardware:=^|false use_fake_hardware:=^|false
fake_sensor_commands:=^|false fake_sensor_commands:=^|false
hand:=^|false hand:=^|false
left_arm_prefix:=^|left_ left_arm_prefix:=^|left_
right_arm_prefix:=^|right_ right_arm_prefix:=^|right_
can_fd:=^|true"> can_fd:=^|false">
<!-- Left Arm Hardware Interface --> <!-- Left Arm Hardware Interface -->
<ros2_control name="openarm_left_hardware_interface" type="system"> <ros2_control name="openarm_left_hardware_interface" type="system">

2
urdf/ros2_control/openarm.ros2_control.xacro
View File

@ -11,7 +11,7 @@
gazebo_effort:=^|false gazebo_effort:=^|false
arm_prefix:='' arm_prefix:=''
bimanual:=false bimanual:=false
can_fd:=^|true"> can_fd:=^|false">
<ros2_control name="openarm_hardware_interface" type="system"> <ros2_control name="openarm_hardware_interface" type="system">
<hardware> <hardware>