Update the Hardware Plugin Config section of the README #2
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* Fix the path to `openarm.ros2_control.xacro`. * dd a configuration example for bimanual. * GitHub issue: enactic/openarm_ros2#56 Thanks for the work, silenzio777! Co-authored-by: silenzio777 <[email protected]>
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Pull Request Overview
This PR updates the Hardware Plugin Config section of the README to fix documentation issues and improve clarity for users. The changes correct file path references and provide better examples for bimanual robot configurations.
- Corrected the file path reference to the hardware plugin configuration
- Updated the hardware interface name in the existing example
- Added a comprehensive bimanual configuration example
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README.md
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| <hardware> | ||
| <plugin>openarm_mujoco_hardware/MujocoHardware</plugin> | ||
| <param name="prefix">left_</param> | ||
| <param name="websocket_port">1337</param> |
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The WebSocket port assignments appear to be swapped based on the explanation in line 43. The text states 'ports default to 1337 for right arm and 1338 for left arm', but the configuration shows left arm using 1337 and right arm using 1338.
thomasonzhou
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thomasonzhou
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swapped port numbers, but functionally this does not change anything as they are just interfaces that can talk with any joint
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It should be noted that this does not fully resolve the issue, since it is blocked by the merge of enactic/openarm_description#11 |
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openarm.ros2_control.xacro.GitHub issue: enactic/openarm_ros2#56
Thanks for the work, silenzio777!