feat: (core) make compatible with ros2_control

2026-04-20 11:51:16 -05:00 · 2026-02-10 16:27:04 -06:00
parent 90fbbac813
commit bfa50e3a25
3 changed files with 84 additions and 29 deletions
--- a/src/anchor_pkg/launch/rover.launch.py
+++ b/src/anchor_pkg/launch/rover.launch.py
@@ -48,7 +48,10 @@ def launch_setup(context, *args, **kwargs):
                executable="core",  # change as needed
                name="core",
                output="both",
-                parameters=[{"launch_mode": mode}],
+                parameters=[
+                    {"launch_mode": mode},
+                    {"use_ros2_control": LaunchConfiguration("use_ros2_control", default=False)},
+                ],
                on_exit=Shutdown(),
            )
        )