ackermann.patch

ackermann.patch

diff --git a/gz_ros2_control_demos/config/ackermann_drive_controller.yaml b/gz_ros2_control_demos/config/ackermann_drive_controller.yaml
index 71b96d9..94e6b93 100644
--- a/gz_ros2_control_demos/config/ackermann_drive_controller.yaml
+++ b/gz_ros2_control_demos/config/ackermann_drive_controller.yaml
@@ -18,8 +18,8 @@ ackermann_steering_controller:
     rear_wheels_radius: 0.3
     front_steering: true
     reference_timeout: 2.0
-    rear_wheels_names: ['rear_left_wheel_joint', 'rear_right_wheel_joint']
-    front_wheels_names: ['left_wheel_steering_joint', 'right_wheel_steering_joint']
+    rear_wheels_names: ['rear_right_wheel_joint', 'rear_left_wheel_joint']
+    front_wheels_names: ['right_wheel_steering_joint', 'left_wheel_steering_joint']
     use_stamped_vel: true
     open_loop: false
     velocity_rolling_window_size: 10
diff --git a/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf b/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
index 825a383..b0cbb0c 100644
--- a/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
@@ -109,10 +109,10 @@
   </link>
 
   <joint name="left_wheel_steering_joint" type="revolute">
-    <origin xyz="0.9 -0.5 -0.2" rpy="1.57 0 0" />
+    <origin xyz="0.9 0.5 -0.2" rpy="0 0 0" />
     <parent link="chassis" />
     <child link="left_wheel_steering" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 0 1" />
     <dynamics damping="0.2" />
     <limit effort="1000.0" lower="-1.57" upper="1.57" velocity="30"/>
   </joint>
@@ -126,10 +126,10 @@
   </link>
 
   <joint name="right_wheel_steering_joint" type="revolute">
-    <origin xyz="0.9 0.5 -0.2" rpy="1.57 0 0" />
+    <origin xyz="0.9 -0.5 -0.2" rpy="0 0 0" />
     <parent link="chassis" />
     <child link="right_wheel_steering" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 0 1" />
     <dynamics damping="0.2" />
     <limit effort="1000.0" lower="-1.57" upper="1.57" velocity="30"/>
   </joint>
@@ -154,7 +154,7 @@
   </link>
 
   <joint name="front_left_wheel_joint" type="continuous">
-    <origin xyz="0 0 0" rpy="0 0 0" />
+    <origin xyz="0 0 0" rpy="-1.57 0 0" />
     <parent link="left_wheel_steering" />
     <child link="front_left_wheel" />
     <axis xyz="0 0 1" />
@@ -181,7 +181,7 @@
   </link>
 
   <joint name="front_right_wheel_joint" type="continuous">
-    <origin xyz="0 0 0" rpy="0 0 0" />
+    <origin xyz="0 0 0" rpy="-1.57 0 0" />
     <parent link="right_wheel_steering" />
     <child link="front_right_wheel" />
     <axis xyz="0 0 1" />