12个电机读写正常

.vscode/settings.json

@@ -1,5 +1,5 @@
 {
     "files.associations": {
-        "functional": "cpp"
+        "chrono": "cpp"
     }
 }

src/commands/joystick_input/src/JoystickInput.cpp

@@ -25,9 +25,9 @@ void JoystickInput::joy_callback(sensor_msgs::msg::Joy::SharedPtr msg) {
         inputs_.command = 5; // LT + B
     } else if (msg->axes[2] != 1 && msg->buttons[0]) {
         inputs_.command = 6; // LT + A
-    } else if (msg->axes[2] != 1 && msg->buttons[2]) {
-        inputs_.command = 7; // LT + X
     } else if (msg->axes[2] != 1 && msg->buttons[3]) {
+        inputs_.command = 7; // LT + X
+    } else if (msg->axes[2] != 1 && msg->buttons[4]) {
         inputs_.command = 8; // LT + Y
     } else if (msg->buttons[7]) {
         inputs_.command = 9; // START
@@ -35,8 +35,8 @@ void JoystickInput::joy_callback(sensor_msgs::msg::Joy::SharedPtr msg) {
         inputs_.command = 0;
         inputs_.lx = -msg->axes[0];
         inputs_.ly = msg->axes[1];
-        inputs_.rx = -msg->axes[3];
+        inputs_.rx = -msg->axes[2];
-        inputs_.ry = msg->axes[4];
+        inputs_.ry = msg->axes[3];
     }
     publisher_->publish(inputs_);
 }

src/controllers/mdog_simple_controller/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(mdog_simple_controller)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/controllers/mdog_simple_controller/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>mdog_hardware</name>
+  <name>mdog_simple_controller</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="1683502971@qq.com">robofish</maintainer>
@@ -9,20 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>hardware_interface</depend>
-
-  <depend>pluginlib</depend>
-
-  <depend>rclcpp_lifecycle</depend>
-
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

src/hardware/mdog_hardware/CMakeLists.txt

@@ -1,93 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(mdog_hardware)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(hardware_interface REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(sensor_msgs REQUIRED)
-
-add_library(
-  mdog_hardware
-  SHARED
-  src/mdog_hardware_interface.cpp
-)
-target_include_directories(
-  mdog_hardware
-  PUBLIC
-  include
-)
-ament_target_dependencies(
-  mdog_hardware
-  hardware_interface
-  rclcpp
-  rclcpp_lifecycle
-)
-# prevent pluginlib from using boost
-target_compile_definitions(mdog_hardware PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-
-pluginlib_export_plugin_description_file(
-  hardware_interface mdog_hardware.xml)
-
-install(
-  TARGETS
-  mdog_hardware
-  RUNTIME DESTINATION bin
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(
-  DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-  find_package(ament_cmake_gmock REQUIRED)
-  find_package(ros2_control_test_assets REQUIRED)
-
-  ament_add_gmock(test_mdog_hardware_interface test/test_mdog_hardware_interface.cpp)
-  target_include_directories(test_mdog_hardware_interface PRIVATE include)
-  ament_target_dependencies(
-    test_mdog_hardware_interface
-    hardware_interface
-    pluginlib
-    ros2_control_test_assets
-  )
-endif()
-
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  mdog_hardware
-)
-ament_export_dependencies(
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-)
-
-ament_package()

src/hardware/mdog_hardware/include/mdog_hardware/mdog_hardware_interface.hpp

@@ -1,79 +0,0 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MDOG_HARDWARE__MDOG_HARDWARE_INTERFACE_HPP_
-#define MDOG_HARDWARE__MDOG_HARDWARE_INTERFACE_HPP_
-
-#include <string>
-#include <vector>
-
-#include "mdog_hardware/visibility_control.h"
-#include "hardware_interface/system_interface.hpp"
-#include "hardware_interface/handle.hpp"
-#include "hardware_interface/hardware_info.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp_lifecycle/state.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "sensor_msgs/msg/imu.hpp"
-
-namespace mdog_hardware
-{
-class MDogHardwareInterface : public hardware_interface::SystemInterface
-{
-public:
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  hardware_interface::CallbackReturn on_init(
-    const hardware_interface::HardwareInfo & info) override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  hardware_interface::CallbackReturn on_configure(
-    const rclcpp_lifecycle::State & previous_state) override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  hardware_interface::CallbackReturn on_activate(
-    const rclcpp_lifecycle::State & previous_state) override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  hardware_interface::CallbackReturn on_deactivate(
-    const rclcpp_lifecycle::State & previous_state) override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  hardware_interface::return_type read(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
-
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-  hardware_interface::return_type write(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
-
-private:
-  std::vector<double> hw_commands_;
-  std::vector<double> hw_states_;
-  std::vector<double> imu_states_;
-
-  rclcpp::Node::SharedPtr node_;
-  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscription_;
-
-  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg);
-};
-
-}  // namespace mdog_hardware
-
-#endif  // MDOG_HARDWARE__MDOG_HARDWARE_INTERFACE_HPP_

src/hardware/mdog_hardware/include/mdog_hardware/visibility_control.h

@@ -1,49 +0,0 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MDOG_HARDWARE__VISIBILITY_CONTROL_H_
-#define MDOG_HARDWARE__VISIBILITY_CONTROL_H_
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-#ifdef __GNUC__
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((dllexport))
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __attribute__((dllimport))
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __declspec(dllexport)
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __declspec(dllimport)
-#endif
-#ifdef TEMPLATES__ROS2_CONTROL__VISIBILITY_BUILDING_DLL
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
-#endif
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((visibility("default")))
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
-#if __GNUC__ >= 4
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC __attribute__((visibility("default")))
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL __attribute__((visibility("hidden")))
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
-#endif
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE
-#endif
-
-#endif  // MDOG_HARDWARE__VISIBILITY_CONTROL_H_

src/hardware/mdog_hardware/launch/mdog_hardware.launch.py

@@ -1,43 +0,0 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-import xacro  # 添加 xacro 模块
-
-
-def process_xacro():
-    # 获取 xacro 文件路径
-    pkg_path = os.path.join(get_package_share_directory('mdog_description'))
-    xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
-    # 处理 xacro 文件
-    robot_description_config = xacro.process_file(xacro_file)
-    return robot_description_config.toxml()
-
-
-def generate_launch_description():
-    # 生成机器人描述
-    robot_description = {'robot_description': process_xacro()}
-
-    # 启动机器人状态发布器
-    robot_state_publisher_node = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        output='screen',
-        parameters=[robot_description]
-    )
-
-    # 启动控制器管理器
-    controller_manager_node = Node(
-        package='controller_manager',
-        executable='ros2_control_node',
-        output='screen',
-        parameters=[robot_description],
-        arguments=['--ros-args', '--log-level', 'info']
-    )
-
-    return LaunchDescription([
-        robot_state_publisher_node,
-        controller_manager_node
-    ])

src/hardware/mdog_hardware/mdog_hardware.xml

@@ -1,9 +0,0 @@
-<library path="mdog_hardware">
-  <class name="mdog_hardware/MDogHardwareInterface"
-         type="mdog_hardware::MDogHardwareInterface"
-         base_class_type="hardware_interface::SystemInterface">
-    <description>
-      ros2_control hardware interface.
-    </description>
-  </class>
-</library>

src/hardware/mdog_hardware/src/mdog_hardware_interface.cpp

@@ -1,165 +0,0 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <limits>
-#include <vector>
-
-#include "mdog_hardware/mdog_hardware_interface.hpp"
-#include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "sensor_msgs/msg/imu.hpp"
-
-namespace mdog_hardware
-{
-
-void MDogHardwareInterface::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
-{
-  imu_states_[0] = msg->orientation.w;
-  imu_states_[1] = msg->orientation.x;
-  imu_states_[2] = msg->orientation.y;
-  imu_states_[3] = msg->orientation.z;
-
-  imu_states_[4] = msg->angular_velocity.x;
-  imu_states_[5] = msg->angular_velocity.y;
-  imu_states_[6] = msg->angular_velocity.z;
-
-  imu_states_[7] = msg->linear_acceleration.x;
-  imu_states_[8] = msg->linear_acceleration.y;
-  imu_states_[9] = msg->linear_acceleration.z;
-}
-
-hardware_interface::CallbackReturn MDogHardwareInterface::on_init(
-  const hardware_interface::HardwareInfo & info)
-{
-  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
-  {
-    return CallbackReturn::ERROR;
-  }
-
-  // 初始化硬件状态和命令
-  hw_states_.resize(info_.joints.size() * 3, std::numeric_limits<double>::quiet_NaN());
-  hw_commands_.resize(info_.joints.size() * 5, std::numeric_limits<double>::quiet_NaN());
-  imu_states_.resize(10, std::numeric_limits<double>::quiet_NaN());
-
-  // 创建 ROS 2 节点和订阅器
-  node_ = std::make_shared<rclcpp::Node>("mdog_hardware_interface");
-  imu_subscription_ = node_->create_subscription<sensor_msgs::msg::Imu>(
-    "/imu", 10, std::bind(&MDogHardwareInterface::imu_callback, this, std::placeholders::_1));
-
-  return CallbackReturn::SUCCESS;
-}
-
-hardware_interface::CallbackReturn MDogHardwareInterface::on_configure(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  // TODO(anyone): prepare the robot to be ready for read calls and write calls of some interfaces
-
-  return CallbackReturn::SUCCESS;
-}
-
-std::vector<hardware_interface::StateInterface> MDogHardwareInterface::export_state_interfaces()
-{
-  std::vector<hardware_interface::StateInterface> state_interfaces;
-  for (size_t i = 0; i < info_.joints.size(); ++i)
-  {
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i * 3]));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_[i * 3 + 1]));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &hw_states_[i * 3 + 2]));
-    
-  }
-  
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "orientation.w", &imu_states_[0]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "orientation.x", &imu_states_[1]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "orientation.y", &imu_states_[2]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "orientation.z", &imu_states_[3]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "angular_velocity.x", &imu_states_[4]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "angular_velocity.y", &imu_states_[5]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "angular_velocity.z", &imu_states_[6]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "linear_acceleration.x", &imu_states_[7]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "linear_acceleration.y", &imu_states_[8]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-    "imu_sensor", "linear_acceleration.z", &imu_states_[9]));
-
-  return state_interfaces;
-}
-
-std::vector<hardware_interface::CommandInterface> MDogHardwareInterface::export_command_interfaces()
-{
-  std::vector<hardware_interface::CommandInterface> command_interfaces;
-  for (size_t i = 0; i < info_.joints.size(); ++i)
-  {
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i * 5]));
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i * 5 + 1]));
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &hw_commands_[i * 5 + 2]));
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      info_.joints[i].name, "kp", &hw_commands_[i * 5 + 3]));
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      info_.joints[i].name, "kd", &hw_commands_[i * 5 + 4]));
-  }
-  return command_interfaces;
-}
-
-hardware_interface::CallbackReturn MDogHardwareInterface::on_activate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  // TODO(anyone): prepare the robot to receive commands
-
-  return CallbackReturn::SUCCESS;
-}
-
-hardware_interface::CallbackReturn MDogHardwareInterface::on_deactivate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  // TODO(anyone): prepare the robot to stop receiving commands
-
-  return CallbackReturn::SUCCESS;
-}
-
-hardware_interface::return_type MDogHardwareInterface::read(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
-{
-  // TODO(anyone): read robot states
-
-  return hardware_interface::return_type::OK;
-}
-
-hardware_interface::return_type MDogHardwareInterface::write(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
-{
-  // TODO(anyone): write robot's commands'
-
-  return hardware_interface::return_type::OK;
-}
-
-}  // namespace mdog_hardware
-
-#include "pluginlib/class_list_macros.hpp"
-
-PLUGINLIB_EXPORT_CLASS(
-  mdog_hardware::MDogHardwareInterface, hardware_interface::SystemInterface)

src/hardware/mdog_hardware/test/test_mdog_hardware_interface.cpp

@@ -1,57 +0,0 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gmock/gmock.h>
-
-#include <string>
-
-#include "hardware_interface/resource_manager.hpp"
-#include "ros2_control_test_assets/components_urdfs.hpp"
-#include "ros2_control_test_assets/descriptions.hpp"
-
-class TestMDogHardwareInterface : public ::testing::Test
-{
-protected:
-  void SetUp() override
-  {
-    // TODO(anyone): Extend this description to your robot
-    mdog_hardware_interface_2dof_ =
-      R"(
-        <ros2_control name="MDogHardwareInterface2dof" type="system">
-          <hardware>
-            <plugin>mdog_hardware/MDogHardwareInterface</plugin>
-          </hardware>
-          <joint name="joint1">
-            <command_interface name="position"/>
-            <state_interface name="position"/>
-            <param name="initial_position">1.57</param>
-          </joint>
-          <joint name="joint2">
-            <command_interface name="position"/>
-            <state_interface name="position"/>
-            <param name="initial_position">0.7854</param>
-          </joint>
-        </ros2_control>
-    )";
-  }
-
-  std::string mdog_hardware_interface_2dof_;
-};
-
-TEST_F(TestMDogHardwareInterface, load_mdog_hardware_interface_2dof)
-{
-  auto urdf = ros2_control_test_assets::urdf_head + mdog_hardware_interface_2dof_ +
-              ros2_control_test_assets::urdf_tail;
-  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
-}

src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/unitree_leg_serial.hpp

@@ -5,10 +5,9 @@
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <thread>
+#include <array>
 #include "unitree_leg_serial_driver/crc_ccitt.hpp"
 #include "unitree_leg_serial_driver/gom_protocol.hpp"
-#include "rc_msgs/msg/go_motor_cmd.hpp"
-#include "rc_msgs/msg/go_motor_fdb.hpp"
 namespace unitree_leg_serial
 {
 
@@ -18,41 +17,44 @@ public:
     explicit UnitreeLegSerial(const rclcpp::NodeOptions &options);
     ~UnitreeLegSerial() override;
 
+    void write(const std::array<MotorCmd_t, 12>& cmds);
+    std::array<MotorData_t, 12> read();
 private:
-    void receive_data();
+    static constexpr int PORT_NUM = 4;
-    void reopen_port();
+    static constexpr int MOTOR_NUM = 3;
-    void send_motor_data(const MotorCmd_t &cmd);
-    void motor_update();
-    void motor_cmd_reset();
-    bool open_serial_port();
-    void close_serial_port();
-    void motor_cmd_callback(const rc_msgs::msg::GoMotorCmd::SharedPtr msg);
 
-    int send_count_;
+    void receive_data(int port_idx);
-    int recv_count_;
+    void reopen_port(int port_idx);
+    void send_motor_data(int port_idx, const MotorCmd_t &cmd);
+    void motor_update();
+    void motor_cmd_reset(int port_idx, int idx);
+    bool open_serial_port(int port_idx);
+    void close_serial_port(int port_idx);
+
+    int send_count_[PORT_NUM]{};
+    int recv_count_[PORT_NUM]{};
+    bool if_debug_{true};
     rclcpp::Time last_freq_time_;
 
-    rclcpp::Publisher<rc_msgs::msg::GoMotorFdb>::SharedPtr motor_fdb_pub_;
+    std::array<std::unique_ptr<serial::Serial>, PORT_NUM> serial_port_;
-    rclcpp::Subscription<rc_msgs::msg::GoMotorCmd>::SharedPtr motor_cmd_sub_;
-    
-
-    std::unique_ptr<serial::Serial> serial_port_;
     rclcpp::TimerBase::SharedPtr timer_;
-    std::thread read_thread_;
+    std::array<std::thread, PORT_NUM> read_thread_;
     std::atomic<bool> running_{false};
 
     // 状态管理
     enum StatusFlag : int8_t { OFFLINE = 0, ERROR = 1, CONTROLED = 2 };
     std::atomic<StatusFlag> status_flag_{OFFLINE};
-    std::atomic<int8_t> tick_{0};
+    std::array<std::atomic<int8_t>, PORT_NUM> tick_;
 
     // 串口参数
-    std::string serial_port_name_;
+    std::array<std::string, PORT_NUM> serial_port_name_;
-    int baud_rate_;
+    std::array<int, PORT_NUM> baud_rate_;
 
     // 电机数据
-    MotorCmd_t motor_cmd_;
+    std::array<std::array<MotorCmd_t, MOTOR_NUM>, PORT_NUM> motor_cmd_;
-    MotorData_t motor_fbk_;
+    std::array<std::array<MotorData_t, MOTOR_NUM>, PORT_NUM> motor_fbk_;
+    std::array<int, PORT_NUM> current_motor_idx_{};
+    std::array<std::array<int, MOTOR_NUM>, PORT_NUM> send_id_count_{};
 };
 
 } // namespace unitree_leg_serial

src/hardware/unitree_leg_serial_driver/launch/unitree_leg_serial.launch.py

@@ -1,9 +1,16 @@
 from launch import LaunchDescription
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
     return LaunchDescription([
+        DeclareLaunchArgument(
+            "if_debug",
+            default_value="true",
+            description="If true, use ROS topics for communication"
+        ),
         ComposableNodeContainer(
             name="component_container",
             namespace="",
@@ -13,7 +20,8 @@ def generate_launch_description():
                 ComposableNode(
                     package="unitree_leg_serial_driver",
                     plugin="unitree_leg_serial::UnitreeLegSerial",
-                    name="unitree_leg_serial"
+                    name="unitree_leg_serial",
+                    parameters=[{"if_debug": LaunchConfiguration("if_debug")}]
                 )
             ],
             output="screen"

src/hardware/unitree_leg_serial_driver/src/unitree_leg_serial.cpp

@@ -1,120 +1,170 @@
 #include "unitree_leg_serial_driver/unitree_leg_serial.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
-#include "rc_msgs/msg/go_motor_cmd.hpp"
-#include "rc_msgs/msg/go_motor_fdb.hpp"
 namespace unitree_leg_serial
 {
 
 UnitreeLegSerial::UnitreeLegSerial(const rclcpp::NodeOptions &options)
     : Node("unitree_leg_serial", options)
 {
-    serial_port_name_ = "/dev/ttyACM0";
+    // 串口名和波特率初始化
-    baud_rate_ = 4000000;
+    serial_port_name_ = {"/dev/ttyACM1", "/dev/ttyACM2", "/dev/ttyACM3", "/dev/ttyACM4"};
+    baud_rate_ = {4000000, 4000000, 4000000, 4000000};
 
-    send_count_ = 0;
-    recv_count_ = 0;
     last_freq_time_ = this->now();
 
-    // 发布器
+    for (int p = 0; p < PORT_NUM; ++p) {
-    motor_fdb_pub_ = this->create_publisher<rc_msgs::msg::GoMotorFdb>("motor_fdb", 10);
+        send_count_[p] = 0;
-    // 订阅器
+        recv_count_[p] = 0;
-    motor_cmd_sub_ = this->create_subscription<rc_msgs::msg::GoMotorCmd>(
+        tick_[p] = 0;
-        "motor_cmd", 10,
+        current_motor_idx_[p] = 0;
-        std::bind(&UnitreeLegSerial::motor_cmd_callback, this, std::placeholders::_1));
+        send_id_count_[p].fill(0);
 
-    if (!open_serial_port()) {
+        // 初始化每个串口的3个电机命令
-        RCLCPP_ERROR(this->get_logger(), "Failed to open serial port: %s", serial_port_name_.c_str());
+        for (int i = 0; i < MOTOR_NUM; ++i) {
-        return;
+            motor_cmd_[p][i] = MotorCmd_t{};
+            motor_cmd_[p][i].id = i;
+            motor_cmd_[p][i].mode = 1;
+        }
+
+        if (!open_serial_port(p)) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to open serial port: %s", serial_port_name_[p].c_str());
+            continue;
+        }
     }
+    status_flag_ = OFFLINE;
 
     running_ = true;
-    status_flag_ = OFFLINE;
+    // 启动每个串口的接收线程
-    tick_ = 0;
+    for (int p = 0; p < PORT_NUM; ++p) {
-    read_thread_ = std::thread(&UnitreeLegSerial::receive_data, this);
+        if (serial_port_[p] && serial_port_[p]->isOpen()) {
+            read_thread_[p] = std::thread(&UnitreeLegSerial::receive_data, this, p);
+        }
+    }
 
+    // 定时器，轮询所有串口
     timer_ = this->create_wall_timer(
-        std::chrono::microseconds(500),
+        std::chrono::microseconds(333),
         [this]() { motor_update(); });
 }
 
 UnitreeLegSerial::~UnitreeLegSerial()
 {
     running_ = false;
-    if (read_thread_.joinable()) {
+    for (int p = 0; p < PORT_NUM; ++p) {
-        read_thread_.join();
+        if (read_thread_[p].joinable()) {
+            read_thread_[p].join();
+        }
+        close_serial_port(p);
     }
-    close_serial_port();
 }
 
-void UnitreeLegSerial::motor_cmd_callback(const rc_msgs::msg::GoMotorCmd::SharedPtr msg)
+void UnitreeLegSerial::write(const std::array<MotorCmd_t, 12>& cmds)
 {
-    // 填充motor_cmd_结构体
+    for (int p = 0; p < PORT_NUM; ++p) {
-    motor_cmd_.T = msg->torque_des;
+        for (int m = 0; m < MOTOR_NUM; ++m) {
-    motor_cmd_.W = msg->speed_des;
+            int idx = p * MOTOR_NUM + m;
-    motor_cmd_.Pos = msg->pos_des;
+            if (idx < 12) {
-    motor_cmd_.K_P = msg->kp;
+                motor_cmd_[p][m] = cmds[idx];
-    motor_cmd_.K_W = msg->kd;
+            }
+        }
+    }
     status_flag_ = CONTROLED;
-    tick_ = 0;
 }
 
-bool UnitreeLegSerial::open_serial_port()
+std::array<MotorData_t, 12> UnitreeLegSerial::read()
+{
+    std::array<MotorData_t, 12> result;
+    for (int p = 0; p < PORT_NUM; ++p) {
+        for (int m = 0; m < MOTOR_NUM; ++m) {
+            int idx = p * MOTOR_NUM + m;
+            if (idx < 12) {
+                result[idx] = motor_fbk_[p][m];
+            }
+        }
+    }
+    return result;
+}
+
+bool UnitreeLegSerial::open_serial_port(int port_idx)
 {
     try {
-        serial_port_ = std::make_unique<serial::Serial>(serial_port_name_, baud_rate_, serial::Timeout::simpleTimeout(1000));
+        serial_port_[port_idx] = std::make_unique<serial::Serial>(
-        return serial_port_->isOpen();
+            serial_port_name_[port_idx], baud_rate_[port_idx], serial::Timeout::simpleTimeout(1000));
+        return serial_port_[port_idx]->isOpen();
     } catch (const std::exception &e) {
-        RCLCPP_ERROR(this->get_logger(), "Serial open exception: %s", e.what());
+        RCLCPP_ERROR(this->get_logger(), "Serial open exception [%d]: %s", port_idx, e.what());
         return false;
     }
 }
 
-void UnitreeLegSerial::close_serial_port()
+void UnitreeLegSerial::close_serial_port(int port_idx)
 {
-    if (serial_port_ && serial_port_->isOpen()) {
+    if (serial_port_[port_idx] && serial_port_[port_idx]->isOpen()) {
-        serial_port_->close();
+        serial_port_[port_idx]->close();
     }
 }
 
 void UnitreeLegSerial::motor_update()
 {
-    if (tick_ < 10) {
+    for (int p = 0; p < PORT_NUM; ++p) {
-        ++tick_;
+        if (tick_[p] < 500) {
-    } else {
+            ++tick_[p];
-        status_flag_ = OFFLINE;
+        } else {
+            status_flag_ = OFFLINE;
+        }
+
+        if (status_flag_ != CONTROLED) {
+            for (int i = 0; i < MOTOR_NUM; ++i) {
+                motor_cmd_reset(p, i);
+            }
+        }
+        // 每次只发送一个电机命令，轮流发送
+        send_motor_data(p, motor_cmd_[p][current_motor_idx_[p]]);
+        send_count_[p]++;
+        send_id_count_[p][current_motor_idx_[p]]++;
+        current_motor_idx_[p] = (current_motor_idx_[p] + 1) % MOTOR_NUM;
     }
 
-    if (status_flag_ != CONTROLED) {
+    // 每秒打印一次频率和所有电机状态
-        motor_cmd_reset();
-    }
-    send_motor_data(motor_cmd_);
-    send_count_++;
-
-    // 每秒打印一次频率
     auto now = this->now();
     if ((now - last_freq_time_).seconds() >= 1.0) {
-        RCLCPP_INFO(this->get_logger(), "发送频率: %d Hz, 接收频率: %d Hz", send_count_, recv_count_);
+        for (int p = 0; p < PORT_NUM; ++p) {
-        send_count_ = 0;
+            RCLCPP_INFO(this->get_logger(), "[Port%d] 发送频率: %d Hz, 接收频率: %d Hz", p, send_count_[p], recv_count_[p]);
-        recv_count_ = 0;
+            for (int i = 0; i < MOTOR_NUM; ++i) {
+                RCLCPP_INFO(this->get_logger(),
+                    "[Port%d] 电机%d: send_count=%d, Pos=%.3f, W=%.3f, T=%.3f, Temp=%d, Mode=%d, Correct=%d",
+                    p, i, send_id_count_[p][i],
+                    motor_fbk_[p][i].Pos,
+                    motor_fbk_[p][i].W,
+                    motor_fbk_[p][i].T,
+                    motor_fbk_[p][i].Temp,
+                    motor_fbk_[p][i].mode,
+                    motor_fbk_[p][i].correct
+                );
+                send_id_count_[p][i] = 0; // 重置
+            }
+            send_count_[p] = 0;
+            recv_count_[p] = 0;
+        }
         last_freq_time_ = now;
     }
 }
 
-void UnitreeLegSerial::motor_cmd_reset()
+void UnitreeLegSerial::motor_cmd_reset(int port_idx, int idx)
 {
-    motor_cmd_ = MotorCmd_t{};
+    motor_cmd_[port_idx][idx] = MotorCmd_t{};
-    motor_cmd_.id = 2;
+    motor_cmd_[port_idx][idx].id = idx;
-    motor_cmd_.mode = 1;
+    motor_cmd_[port_idx][idx].mode = 1;
 }
 
-void UnitreeLegSerial::send_motor_data(const MotorCmd_t &cmd)
+void UnitreeLegSerial::send_motor_data(int port_idx, const MotorCmd_t &cmd)
 {
-    if (!serial_port_ || !serial_port_->isOpen()) {
+    if (!serial_port_[port_idx] || !serial_port_[port_idx]->isOpen()) {
-        RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "Serial port is not open.");
+        RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[Port%d] Serial port is not open.", port_idx);
         return;
     }
 
-    auto &out = motor_cmd_.motor_send_data;
+    RIS_ControlData_t out;
     out.head[0] = 0xFE;
     out.head[1] = 0xEE;
 
@@ -142,10 +192,10 @@ void UnitreeLegSerial::send_motor_data(const MotorCmd_t &cmd)
     out.CRC16 = crc_ccitt::crc_ccitt(
         0, (uint8_t *)&out, sizeof(RIS_ControlData_t) - sizeof(out.CRC16));
 
-    serial_port_->write(reinterpret_cast<const uint8_t *>(&out), sizeof(RIS_ControlData_t));
+    serial_port_[port_idx]->write(reinterpret_cast<const uint8_t *>(&out), sizeof(RIS_ControlData_t));
 }
 
-void UnitreeLegSerial::receive_data()
+void UnitreeLegSerial::receive_data(int port_idx)
 {
     size_t packet_size = sizeof(RIS_MotorData_t);
     std::vector<uint8_t> buffer(packet_size * 2);
@@ -153,7 +203,7 @@ void UnitreeLegSerial::receive_data()
 
     while (running_) {
         try {
-            size_t bytes_read = serial_port_->read(buffer.data() + buffer_offset, buffer.size() - buffer_offset);
+            size_t bytes_read = serial_port_[port_idx]->read(buffer.data() + buffer_offset, buffer.size() - buffer_offset);
             if (bytes_read == 0) continue;
             buffer_offset += bytes_read;
 
@@ -172,53 +222,57 @@ void UnitreeLegSerial::receive_data()
             }
             if (buffer_offset < packet_size) continue;
 
-            std::memcpy(&motor_fbk_.motor_recv_data, buffer.data(), packet_size);
+            RIS_MotorData_t recv_data;
+            std::memcpy(&recv_data, buffer.data(), packet_size);
 
-            if (motor_fbk_.motor_recv_data.head[0] != 0xFD || motor_fbk_.motor_recv_data.head[1] != 0xEE) {
+            int id = recv_data.mode.id;
-                motor_fbk_.correct = 0;
+            if (id < 0 || id >= MOTOR_NUM) {
+                buffer_offset -= packet_size;
+                std::memmove(buffer.data(), buffer.data() + packet_size, buffer_offset);
+                continue;
+            }
+
+            if (recv_data.head[0] != 0xFD || recv_data.head[1] != 0xEE) {
+                motor_fbk_[port_idx][id].correct = 0;
             } else {
-                motor_fbk_.calc_crc = crc_ccitt::crc_ccitt(
+                motor_fbk_[port_idx][id].calc_crc = crc_ccitt::crc_ccitt(
-                    0, (uint8_t *)&motor_fbk_.motor_recv_data, sizeof(RIS_MotorData_t) - sizeof(motor_fbk_.motor_recv_data.CRC16));
+                    0, (uint8_t *)&recv_data, sizeof(RIS_MotorData_t) - sizeof(recv_data.CRC16));
-                if (motor_fbk_.motor_recv_data.CRC16 != motor_fbk_.calc_crc) {
+                if (recv_data.CRC16 != motor_fbk_[port_idx][id].calc_crc) {
-                    memset(&motor_fbk_.motor_recv_data, 0, sizeof(RIS_MotorData_t));
+                    memset(&motor_fbk_[port_idx][id].motor_recv_data, 0, sizeof(RIS_MotorData_t));
-                    motor_fbk_.correct = 0;
+                    motor_fbk_[port_idx][id].correct = 0;
-                    motor_fbk_.bad_msg++;
+                    motor_fbk_[port_idx][id].bad_msg++;
                 } else {
-                    motor_fbk_.motor_id = motor_fbk_.motor_recv_data.mode.id;
+                    std::memcpy(&motor_fbk_[port_idx][id].motor_recv_data, &recv_data, packet_size);
-                    motor_fbk_.mode = motor_fbk_.motor_recv_data.mode.status;
+                    motor_fbk_[port_idx][id].motor_id = recv_data.mode.id;
-                    motor_fbk_.Temp = motor_fbk_.motor_recv_data.fbk.temp;
+                    motor_fbk_[port_idx][id].mode = recv_data.mode.status;
-                    motor_fbk_.MError = motor_fbk_.motor_recv_data.fbk.MError;
+                    motor_fbk_[port_idx][id].Temp = recv_data.fbk.temp;
-                    motor_fbk_.W = ((float)motor_fbk_.motor_recv_data.fbk.speed / 256.0f) * 6.28318f;
+                    motor_fbk_[port_idx][id].MError = recv_data.fbk.MError;
-                    motor_fbk_.T = ((float)motor_fbk_.motor_recv_data.fbk.torque) / 256.0f;
+                    motor_fbk_[port_idx][id].W = ((float)recv_data.fbk.speed / 256.0f) * 6.28318f;
-                    motor_fbk_.Pos = 6.28318f * ((float)motor_fbk_.motor_recv_data.fbk.pos) / 32768.0f;
+                    motor_fbk_[port_idx][id].T = ((float)recv_data.fbk.torque) / 256.0f;
-                    motor_fbk_.footForce = motor_fbk_.motor_recv_data.fbk.force;
+                    motor_fbk_[port_idx][id].Pos = 6.28318f * ((float)recv_data.fbk.pos) / 32768.0f;
-                    motor_fbk_.correct = 1;
+                    motor_fbk_[port_idx][id].footForce = recv_data.fbk.force;
+                    motor_fbk_[port_idx][id].correct = 1;
                 }
             }
-            if (motor_fbk_.correct) {
+            if (motor_fbk_[port_idx][id].correct) {
-                // 发布反馈消息
+                recv_count_[port_idx]++;
-                rc_msgs::msg::GoMotorFdb msg;
+                RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 1000,
-                msg.torque = motor_fbk_.T;
+                    "[Port%d] Motor ID: %d, Position: %f", port_idx, motor_fbk_[port_idx][id].motor_id, motor_fbk_[port_idx][id].Pos);
-                msg.speed = motor_fbk_.W;
-                msg.pos = motor_fbk_.Pos;
-                motor_fdb_pub_->publish(msg);
-                recv_count_++;
-                RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 1000, "Motor ID: %d, Position: %f", motor_fbk_.motor_id, motor_fbk_.Pos);
             }
             std::memmove(buffer.data(), buffer.data() + packet_size, buffer_offset - packet_size);
             buffer_offset -= packet_size;
         } catch (const std::exception &e) {
-            RCLCPP_ERROR(this->get_logger(), "Serial read exception: %s", e.what());
+            RCLCPP_ERROR(this->get_logger(), "Serial read exception [%d]: %s", port_idx, e.what());
-            reopen_port();
+            reopen_port(port_idx);
         }
     }
 }
 
-void UnitreeLegSerial::reopen_port()
+void UnitreeLegSerial::reopen_port(int port_idx)
 {
-    close_serial_port();
+    close_serial_port(port_idx);
     rclcpp::sleep_for(std::chrono::milliseconds(100));
-    open_serial_port();
+    open_serial_port(port_idx);
 }
 
 } // namespace unitree_leg_serial

src/robot_descriptions/qut/mdog_description/urdf/robot.urdf

@@ -39,7 +39,7 @@
   </material>
   <ros2_control name="MdogSystem" type="system">
     <hardware>
-      <plugin>hardware_mdog/hardware_mdog_real</plugin>
+      <plugin>mdog_hardware/MDogHardwareInterface</plugin>
     </hardware>
     <joint name="FR_hip_joint">
       <command_interface name="position"/>
@@ -246,7 +246,7 @@
   </link>
   <!-- 定义thigh_joint -->
   <joint name="FR_thigh_joint" type="revolute">
-    <origin rpy="0 -1.5708 0" xyz="0 0.05 0"/>
+    <origin rpy="0 -0.7854 0" xyz="0 0.05 0"/>
     <parent link="FR_hip"/>
     <child link="FR_thigh"/>
     <axis xyz="0 1 0"/>
@@ -274,7 +274,7 @@
   </link>
   <!-- 定义calf_joint -->
   <joint name="FR_calf_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
     <parent link="FR_thigh"/>
     <child link="FR_calf"/>
     <axis xyz="0 1 0"/>
@@ -330,7 +330,7 @@
   </link>
   <!-- 定义thigh_joint -->
   <joint name="FL_thigh_joint" type="revolute">
-    <origin rpy="0 -1.5708 0" xyz="0 -0.05 0"/>
+    <origin rpy="0 -0.7854 0" xyz="0 -0.05 0"/>
     <parent link="FL_hip"/>
     <child link="FL_thigh"/>
     <axis xyz="0 1 0"/>
@@ -358,7 +358,7 @@
   </link>
   <!-- 定义calf_joint -->
   <joint name="FL_calf_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
     <parent link="FL_thigh"/>
     <child link="FL_calf"/>
     <axis xyz="0 1 0"/>
@@ -414,7 +414,7 @@
   </link>
   <!-- 定义thigh_joint -->
   <joint name="RR_thigh_joint" type="revolute">
-    <origin rpy="0 -1.5708 0" xyz="0 0.05 0"/>
+    <origin rpy="0 -0.7854 0" xyz="0 0.05 0"/>
     <parent link="RR_hip"/>
     <child link="RR_thigh"/>
     <axis xyz="0 1 0"/>
@@ -442,7 +442,7 @@
   </link>
   <!-- 定义calf_joint -->
   <joint name="RR_calf_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
     <parent link="RR_thigh"/>
     <child link="RR_calf"/>
     <axis xyz="0 1 0"/>
@@ -498,7 +498,7 @@
   </link>
   <!-- 定义thigh_joint -->
   <joint name="RL_thigh_joint" type="revolute">
-    <origin rpy="0 -1.5708 0" xyz="0 -0.05 0"/>
+    <origin rpy="0 -0.7854 0" xyz="0 -0.05 0"/>
     <parent link="RL_hip"/>
     <child link="RL_thigh"/>
     <axis xyz="0 1 0"/>
@@ -526,7 +526,7 @@
   </link>
   <!-- 定义calf_joint -->
   <joint name="RL_calf_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
     <parent link="RL_thigh"/>
     <child link="RL_calf"/>
     <axis xyz="0 1 0"/>

src/robot_descriptions/qut/mdog_description/xacro/ros2_control.xacro

@@ -4,7 +4,7 @@
 	<ros2_control name="MdogSystem" type="system">
 
 		<hardware>
-			<plugin>mdog_hardware/mdog_hardware_interface</plugin>
+			<plugin>mdog_hardware/MDogHardwareInterface</plugin>
 		</hardware>
 
 		<joint name="FR_hip_joint">