fix hero chassis

Author: tz61

decomposition/metav_description/urdf/hero/hero.xacro

@@ -37,7 +37,7 @@
         <ros2_control name="dji_motors_chassis" type="system">
             <hardware>
                 <plugin>meta_hardware/MetaRobotDjiMotorNetwork</plugin>
-                <param name="can_network_name">can1</param>
+                <param name="can_network_name">can_1</param>
             </hardware>
             <xacro:wheel_transmission prefix="front_left" mechanical_reduction="20.0" motor_id="1" />
             <xacro:wheel_transmission prefix="front_right" mechanical_reduction="20.0" motor_id="2" />
@@ -50,15 +50,17 @@
         <ros2_control name="dm_motors_yaw" type="system">
             <hardware>
                 <plugin>meta_hardware/MetaRobotDjiMotorNetwork</plugin>
-                <param name="can_network_name">can1</param>
+                <param name="can_network_name">can_1</param>
             </hardware>
-            <xacro:gimbal_transmission prefix="pitch" mechanical_reduction="20.0" motor_id="1" offset="0"/>
+            <xacro:gimbal_transmission prefix="pitch" mechanical_reduction="20.0" motor_id="7" offset="0"/>
+            <xacro:gimbal_transmission prefix="yaw" mechanical_reduction="20.0" motor_id="8" offset="0"/>
+            
         </ros2_control>
 
         <ros2_control name="dji_motors_gimbal" type="system">
             <hardware>
                 <plugin>meta_hardware/MetaRobotDjiMotorNetwork</plugin>
-                <param name="can_network_name">can2</param>
+                <param name="can_network_name">can_2</param>
             </hardware>
             <xacro:shooter_transmission prefix="fric1" mechanical_reduction="-1.0" offset="0.25" motor_model="M3508"
                 motor_id="4" />

decomposition/metav_description/urdf/standard/standard.shooter.xacro

@@ -89,13 +89,13 @@
     </xacro:macro>
 
     <xacro:macro name="shooter_transmission"
-        params="prefix mechanical_reduction offset motor_id">
+        params="prefix mechanical_reduction offset motor_id motor_model">
         <joint name="${prefix}_shooter_joint">
             <command_interface name="effort" />
             <state_interface name="position" /> 
             <state_interface name="velocity" />
             <state_interface name="effort" />
-            <param name="motor_model">M2006</param>
+            <param name="motor_model">${motor_model}</param>
             <param name="motor_id">${motor_id}</param>
             <param name="mechanical_reduction">${mechanical_reduction}</param>
             <param name="offset">${offset}</param>

rules/01-robomaster-host1ton.rules

@@ -0,0 +1,11 @@
+# udev file for host1toN v0.2
+DEVPATH=="/devices/*.1:1.0/net/can*", NAME="can_2", MODE="0666"
+DEVPATH=="/devices/*.2:1.0/net/can*", NAME="can_1", MODE="0666"
+DEVPATH=="/devices/*.3.2:1.0/net/can*", NAME="can_3", MODE="0666"
+DEVPATH=="/devices/*.3.3:1.0/tty*", SYMLINK+="tty_RS485_1", MODE="0666"
+DEVPATH=="/devices/*.3.3:1.1/tty*", SYMLINK+="tty_RS485_2", MODE="0666"
+DEVPATH=="/devices/*.3.1:1.0/tty*", SYMLINK+="tty_REF", MODE="0666"
+DEVPATH=="/devices/*.4.1:1.0/tty*", SYMLINK+="tty_VT02", MODE="0666"
+DEVPATH=="/devices/*.4.2:1.0/tty*", SYMLINK+="tty_DBUS", MODE="0666"
+DEVPATH=="/devices/*.4.4:1.0/tty*", SYMLINK+="tty_IMU", MODE="0666"
+

rules/install.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+sudo cp 01-robomaster-host1ton.rules /etc/udev/rules.d/ 
+sudo udevadm control --reload && sudo udevadm trigger