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Removes "actuator" hwi and uses the new "servo" hwi #9

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Merged
IshanDutta11 merged 1 commit into from
Nov 19, 2025
Merged

Removes "actuator" hwi and uses the new "servo" hwi #9

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29 changes: 0 additions & 29 deletions src/description/ros2_control/arm/arm.actuator.ros2_control.xacro
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22 changes: 22 additions & 0 deletions src/description/ros2_control/arm/arm.servo.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="servo_ros2_control" params="name">

<ros2_control name="${name}" type="system">

<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
</hardware>

<joint name="actuator">
<command_interface name="position" />
<command_interface name="velocity"/>
<state_interface name="position" />
</joint>

</ros2_control>

</xacro:macro>

</robot>
6 changes: 3 additions & 3 deletions src/description/urdf/athena_arm.urdf.xacro
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Expand Up @@ -25,8 +25,8 @@
<!-- Import rmd ros2_control description -->
<xacro:include filename="$(find description)/ros2_control/arm/arm.rmd.ros2_control.xacro" />

<!-- Import actuator ros2_control description -->
<xacro:include filename="$(find description)/ros2_control/arm/arm.actuator.ros2_control.xacro" />
<!-- Import servo ros2_control description -->
<xacro:include filename="$(find description)/ros2_control/arm/arm.servo.ros2_control.xacro" />

<!-- Import odrive ros2_control description -->
<!-- <xacro:include filename="$(find description)/config/odrive.ros2_control.xacro" /> -->
Expand All @@ -47,7 +47,7 @@
<xacro:smc_ros2_control name="smc"/>
<!-- <xacro:talon_ros2_control name="talon"/> -->
<xacro:rmd_ros2_control name="rmd"/>
<xacro:actuator_ros2_control name="actuator"/>
<xacro:servo_ros2_control name="servo"/>
<!-- <xacro:odrive_ros2_control name="odrive"/> -->
</xacro:unless>

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77 changes: 0 additions & 77 deletions src/hardware_interfaces/actuator_ros2_control/CMakeLists.txt
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9 changes: 0 additions & 9 deletions src/hardware_interfaces/actuator_ros2_control/actuator_hardware_interface.xml
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125 changes: 0 additions & 125 deletions ...faces/actuator_ros2_control/include/actuator_ros2_control/actuator_hardware_interface.hpp
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32 changes: 0 additions & 32 deletions src/hardware_interfaces/actuator_ros2_control/package.xml
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