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sbgisen · Jan 23, 2025 · 7e33b3b · 7e33b3b
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commit 7e33b3b
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/vesc_hw_interface/launch/position_test.ros2_control.xacro b/vesc_hw_interface/launch/position_test.ros2_control.xacro
@@ -34,7 +34,7 @@
   <ros2_control name="vesc" type="actuator">
     <hardware>
       <plugin>vesc_hw_interface/VescHwInterface</plugin>
-      <param name="port">/dev/ttyACM1</param>
+      <param name="port">can1</param>
       <param name="controller_id">6</param>
       <param name="vesc_id">4</param>
       <param name="gear_ratio">1</param>

diff --git a/vesc_hw_interface/launch/velocity_duty_test.ros2_control.xacro b/vesc_hw_interface/launch/velocity_duty_test.ros2_control.xacro
@@ -34,7 +34,9 @@
   <ros2_control name="vesc" type="actuator">
     <hardware>
       <plugin>vesc_hw_interface/VescHwInterface</plugin>
-      <param name="port">/dev/ttyACM0</param>
+      <param name="port">can1</param>
+      <param name="controller_id">6</param>
+      <param name="vesc_id">4</param>
       <param name="gear_ratio">0.230769</param>
       <param name="torque_const">1.0</param>
       <param name="num_hall_sensors">3</param>