fixes

CMakeLists.txt

@@ -193,6 +193,10 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
 # # Test dependencies
 # if(BUILD_TESTING)
 #   find_package(ament_lint_auto REQUIRED)

cfg/test.yaml

@@ -0,0 +1,48 @@
+# This is the configuration for the controller_manager in ROS 2
+controller_manager:
+  ros__parameters:
+    ubiquity_velocity_controller:
+      type: "diff_drive_controller/DiffDriveController"
+
+      # Specify the joints connected to the wheels
+      left_wheel_names: ['left_wheel_joint']
+      right_wheel_names: ['right_wheel_joint']
+
+      # Publish rate for odometry messages
+      publish_rate: 50.0  # Same as in ROS 1, rate of odom publishing
+
+      # Covariance for pose and twist (six elements representing the covariance matrix diagonal)
+      pose_covariance_diagonal: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
+      twist_covariance_diagonal: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
+
+      # Velocity command timeout (stop if no command received after this time)
+      cmd_vel_timeout: 0.25
+
+      # Enable publishing of the transform from odom to base_frame_id
+      enable_odom_tf: true
+
+      # Robot physical parameters
+      wheel_separation: 0.33
+      wheel_radius: 0.1015
+
+      # Base frame ID for the robot
+      base_frame_id: base_footprint
+
+      # Multipliers to adjust wheel separation and radius (usually left at 1.0)
+      wheel_separation_multiplier: 1.0
+      wheel_radius_multiplier: 1.0
+
+      # Velocity and acceleration limits for linear and angular motion
+      linear:
+        x:
+          has_velocity_limits: true
+          max_velocity: 1.0  # Maximum forward speed (m/s)
+          has_acceleration_limits: true
+          max_acceleration: 1.1  # Maximum acceleration (m/s^2)
+
+      angular:
+        z:
+          has_velocity_limits: true
+          max_velocity: 2.0  # Maximum rotational speed (rad/s)
+          has_acceleration_limits: true
+          max_acceleration: 5.0  # Maximum angular acceleration (rad/s^2)

include/ubiquity_motor_ros2/motor_parameters.h

@@ -184,10 +184,10 @@ struct CommsParams {
     int32_t baud_rate;
 
     CommsParams()
-        : serial_port("/dev/ttyS0"), baud_rate(9600) {};
+        : serial_port("/dev/ttyS0"), baud_rate(38400) {};
 
     CommsParams(const std::shared_ptr<rclcpp::Node>& n)
-        : serial_port("/dev/ttyS0"), baud_rate(9600) {
+        : serial_port("/dev/ttyS0"), baud_rate(38400) {
         // clang-format off
         serial_port = getParamOrDefault(
             n, "ubiquity_motor_ros2/serial_port", serial_port);

launch/test.launch.py

@@ -0,0 +1,13 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='controller_manager',
+            executable='spawner',  # Correct executable for spawning controllers
+            arguments=['diff_drive_controller'],  # Controller name
+            parameters=['/home/ubuntu/ros2_ws/src/ubiquity_motor_ros2/cfg/test.yaml'],  # Path to your YAML config file
+            output='screen',
+        ),
+    ])

src/motor_node.cc

@@ -178,7 +178,8 @@ void MotorNode::run() {
         "--ros-args",
         // "--remap", "controller_manager:__node:=motor_hardware_node",
         "--log-level", "info", 
-        "--param", "update_rate:=" + std::to_string(controller_loop_rate)
+        "--param", "update_rate:=" + std::to_string(controller_loop_rate),
+        "--params-file", "/home/ubuntu/ros2_ws/src/ubiquity_motor_ros2/cfg/test.yaml"
         });
 
 
@@ -190,6 +191,8 @@ void MotorNode::run() {
     // Create the ResourceManager and register the actuator interface
     auto resource_manager = std::make_unique<hardware_interface::ResourceManager>(buffer.str(), get_node_clock_interface(), get_node_logging_interface(), true, controller_loop_rate);
     resource_manager->import_component(std::move(robot), getHwInfo());
+    // resource_manager->load_hardware_component(std::move(robot), getHwInfo());
+
 
     controller_manager::ControllerManager cm(std::move(resource_manager), executor, "controller_manager", get_namespace(), options);