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RoboJackets · May 30, 2024 · e9d8c48 · e9d8c48
1 parent e3332a8
commit e9d8c48
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Showing 5 changed files with 6 additions and 9 deletions.
diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py
@@ -42,7 +42,8 @@ def generate_launch_description():
         xacro_file, mappings={"use_simulation": "false"}
     )
     robot_desc = robot_description_config.toxml()
-    gps_config = os.path.join(get_package_share_directory("urc_bringup"), "config", "nmea_serial_driver.yaml")
+    gps_config = os.path.join(get_package_share_directory("urc_bringup"),
+                              "config", "nmea_serial_driver.yaml")
 
     control_node = Node(
         package="controller_manager",

diff --git a/urc_bringup/launch/bringup_simulation.launch.py b/urc_bringup/launch/bringup_simulation.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
     controller_config_file_dir = os.path.join(
         pkg_urc_bringup, "config", "ros2_control_walli.yaml"
     )
-    world_path = os.path.join(pkg_urc_gazebo, "urdf/worlds/urc_world.world")
+    # world_path = os.path.join(pkg_urc_gazebo, "urdf/worlds/urc_world.world")
     use_sim_time = LaunchConfiguration("use_sim_time", default="true")
 
     xacro_file = os.path.join(

diff --git a/urc_hw/src/hardware_interfaces/rover_drivetrain.cpp b/urc_hw/src/hardware_interfaces/rover_drivetrain.cpp
@@ -112,7 +112,7 @@ hardware_interface::return_type RoverDrivetrain::read(
   const rclcpp::Time &,
   const rclcpp::Duration &)
 {
-  
+
   // RCLCPP_INFO(rclcpp::get_logger("test"),
   //   "%.5f, %.5f", velocity_rps_commands[0], velocity_rps_commands[1]);
 
@@ -140,7 +140,7 @@ hardware_interface::return_type RoverDrivetrain::write(
   message.m6Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
 
 
-  // Junk
+  // Fill Required Fields
   message.redEnabled = 0;
   message.blueEnabled = 0;
   message.greenEnabled = 0;

diff --git a/urc_hw/src/hardware_interfaces/status_light.cpp b/urc_hw/src/hardware_interfaces/status_light.cpp
@@ -133,7 +133,7 @@ hardware_interface::return_type StatusLight::write(const rclcpp::Time &, const r
   message.greenEnabled = (lightModes[2] != 0);
   message.greenBlink = (lightModes[2] == 2);
 
-  // Junk
+  // Fill Required Fields
   message.m1Setpoint = 0;
   message.m2Setpoint = 0;
   message.m3Setpoint = 0;

diff --git a/urc_test/launch/odom_to_map_pose.launch.py b/urc_test/launch/odom_to_map_pose.launch.py
@@ -1,9 +1,5 @@
-import os
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():