cleanup

ros-controls · Jul 23, 2022 · faf9ab9 · faf9ab9
1 parent 9f7857e
commit faf9ab9
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Showing 3 changed files with 3 additions and 6 deletions.
diff --git a/gazebo_ros2_control_demos/launch/diff_drive.launch.py b/gazebo_ros2_control_demos/launch/diff_drive.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
 
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'cartpole'],
+                                   '-entity', 'diffbot'],
                         output='screen')
 
     load_joint_state_controller = Node(

diff --git a/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py b/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
 
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'cartpole'],
+                                   '-entity', 'tricycle'],
                         output='screen')
 
     load_joint_state_controller = Node(

diff --git a/gazebo_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf
@@ -158,10 +158,7 @@
       <plugin>gazebo_ros2_control/GazeboSystem</plugin>
     </hardware>
     <joint name="steering_joint">
-      <command_interface name="position">
-        <param name="min">${-pi/2}</param>
-        <param name="max">${pi/2}</param>
-      </command_interface>
+      <command_interface name="position" />
       <state_interface name="position" />
     </joint>
     <joint name="traction_joint">