ros2_control.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

    <ros2_control name="RealRobot" type="system">

        <hardware>
            <plugin>diffdrive_arduino/DiffDriveArduino</plugin>
            <param name="left_wheel_name">left_wheel_joint</param>
            <param name="right_wheel_name">right_wheel_joint</param>
            <param name="loop_rate">30</param>
            <param name="device">/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0</param>
            <param name="baud_rate">57600</param>
            <param name="timeout">1000</param>
            <param name="enc_counts_per_rev">1975</param>
        </hardware>

        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>

        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
        
    </ros2_control>

    <!-- <ros2_control name="GazeboSystem" type="system">

        <hardware>
            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
        </hardware>

        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>

        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
        
    </ros2_control> -->

    <gazebo>
        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
            <parameters>$(find manolobot_uno)/config/my_controllers.yaml</parameters>
        </plugin>
    </gazebo>
    
</robot>