HGardiner1 · Nov 13, 2025 · Nov 13, 2025 · Nov 16, 2025 · Nov 17, 2025 · Nov 17, 2025
diff --git a/src/description/urdf/athena_arm.urdf.xacro b/src/description/urdf/athena_arm.urdf.xacro
@@ -20,7 +20,7 @@
   <xacro:include filename="$(find description)/ros2_control/arm/arm.smc.ros2_control.xacro" />
 
   <!-- Import talon ros2_control description -->
-  <!-- <xacro:include filename="$(find description)/ros2_control/arm/arm.talon.ros2_control.xacro" /> -->
+  <xacro:include filename="$(find description)/ros2_control/arm/arm.talon.ros2_control.xacro" /> 
 
   <!-- Import rmd ros2_control description -->
   <xacro:include filename="$(find description)/ros2_control/arm/arm.rmd.ros2_control.xacro" />
@@ -45,7 +45,7 @@
   </xacro:if>
   <xacro:unless value="$(arg use_mock_hardware)"> <!-- HARDWARE -->
     <xacro:smc_ros2_control name="smc"/>
-    <!-- <xacro:talon_ros2_control name="talon"/> -->
+    <xacro:talon_ros2_control name="talon"/> 
     <xacro:rmd_ros2_control name="rmd"/>
     <xacro:actuator_ros2_control name="actuator"/>
     <!-- <xacro:odrive_ros2_control name="odrive"/> -->

diff --git a/src/hardware_interfaces/talon_ros2_control/COLCON_IGNORE b/src/hardware_interfaces/talon_ros2_control/COLCON_IGNORE
diff --git a/...rfaces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm32/libCTRE_Phoenix.so b/...rfaces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm32/libCTRE_Phoenix.so
diff --git a/...ces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm32/libCTRE_PhoenixCCI.so b/...ces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm32/libCTRE_PhoenixCCI.so
diff --git a/...s/talon_ros2_control/include/talon_ros2_control/shared_libs/arm32/libCTRE_PhoenixTools.so b/...s/talon_ros2_control/include/talon_ros2_control/shared_libs/arm32/libCTRE_PhoenixTools.so
diff --git a/...rfaces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm64/libCTRE_Phoenix.so b/...rfaces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm64/libCTRE_Phoenix.so
diff --git a/...ces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm64/libCTRE_PhoenixCCI.so b/...ces/talon_ros2_control/include/talon_ros2_control/shared_libs/arm64/libCTRE_PhoenixCCI.so
diff --git a/...s/talon_ros2_control/include/talon_ros2_control/shared_libs/arm64/libCTRE_PhoenixTools.so b/...s/talon_ros2_control/include/talon_ros2_control/shared_libs/arm64/libCTRE_PhoenixTools.so
diff --git a/...faces/talon_ros2_control/include/talon_ros2_control/shared_libs/x86-64/libCTRE_Phoenix.so b/...faces/talon_ros2_control/include/talon_ros2_control/shared_libs/x86-64/libCTRE_Phoenix.so
diff --git a/...es/talon_ros2_control/include/talon_ros2_control/shared_libs/x86-64/libCTRE_PhoenixCCI.so b/...es/talon_ros2_control/include/talon_ros2_control/shared_libs/x86-64/libCTRE_PhoenixCCI.so
diff --git a/.../talon_ros2_control/include/talon_ros2_control/shared_libs/x86-64/libCTRE_PhoenixTools.so b/.../talon_ros2_control/include/talon_ros2_control/shared_libs/x86-64/libCTRE_PhoenixTools.so