Addressed Javi comments in the PR

Signed-off-by: JesusSilvaUtrera <[email protected]>
Ekumen-OS · May 15, 2024 · fd451a2 · fd451a2
1 parent 6733aea
commit fd451a2
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/andino_description/README.md b/andino_description/README.md
@@ -11,7 +11,7 @@ In the `urdf` folder you have the URDF files that contain the description of the
 
 In case you want to change the physical properties of some of the components of the robot, you can do it modifying the default YAML files inside the `config/andino` folder.
 
-You can even add your own configuration files in another directory in the `config` folder, and passing this directory to the main file using `yaml_config_dir` xacro argument inside the launch files.
+You can even add your own configuration files in another directory in the `config` folder, and pass this directory to the main file using the `yaml_config_dir` xacro argument on the launch files.
 
 ## Launch Files
 

diff --git a/andino_description/launch/andino_description.launch.py b/andino_description/launch/andino_description.launch.py
@@ -41,13 +41,13 @@
 
 def generate_launch_description():
 
-    # Obtains andino_description's share directory path.
-    pkg_andino_description = get_package_share_directory('andino_description')
-
     # Arguments
     rsp_argument = DeclareLaunchArgument('rsp', default_value='true',
                           description='Run robot state publisher node.')
 
+    # Obtains andino_description's share directory path.
+    pkg_andino_description = get_package_share_directory('andino_description')
+
     # Obtain urdf from xacro files.
     arguments = {'yaml_config_dir': os.path.join(pkg_andino_description, 'config', 'andino')}
     doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'), mappings = arguments)

diff --git a/andino_description/launch/view_andino.launch.py b/andino_description/launch/view_andino.launch.py
@@ -41,9 +41,6 @@
 
 def generate_launch_description():
 
-    # Obtains andino_description's share directory path.
-    pkg_andino_description = get_package_share_directory('andino_description')
-
     # Arguments
     rviz_argument = DeclareLaunchArgument('rviz', default_value='true',
                           description='Open RViz.')
@@ -52,6 +49,9 @@ def generate_launch_description():
     jsp_argument = DeclareLaunchArgument('jsp', default_value='true',
                           description='Run joint state publisher node.')
 
+    # Obtains andino_description's share directory path.
+    pkg_andino_description = get_package_share_directory('andino_description')
+
     # Obtain urdf from xacro files.
     arguments = {'yaml_config_dir': os.path.join(pkg_andino_description, 'config', 'andino')}
     doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'), mappings = arguments)

diff --git a/andino_description/urdf/include/andino_control.urdf.xacro b/andino_description/urdf/include/andino_control.urdf.xacro
@@ -17,7 +17,7 @@
         <param name="right_wheel_name">${hardware_props['right_wheel_name']}</param>
         <param name="serial_device">${hardware_props['serial_device']}</param>
         <param name="baud_rate">${hardware_props['baud_rate']}</param>
-        <param name="timeout">1${hardware_props['timeout']}</param>
+        <param name="timeout">${hardware_props['timeout']}</param>
         <param name="enc_ticks_per_rev">${hardware_props['enc_ticks_per_rev']}</param>
       </hardware>
       <joint name="left_wheel_joint">