<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
    <ros2_control name="RealRobot" type="system">
        <hardware>
            <plugin>ros2_control_can/Ros2ControlCAN</plugin>
            <param name="front_left_wheel_name">front_left_steer_joint</param>
            <param name="front_right_wheel_name">front_right_steer_joint</param>
            <param name="rear_left_wheel_name">rear_left_wheel_joint</param>
            <param name="rear_right_wheel_name">rear_right_wheel_joint</param>
            <param name="device">vcan0</param>
            <param name="loop_rate">50</param>
        </hardware>
        <!-- Note everything below here is the same as the Gazebo one -->
        <joint name="rear_right_wheel_joint">
            <command_interface name="velocity"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
        <joint name="rear_left_wheel_joint">
            <command_interface name="velocity"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
        <joint name="front_left_steer_joint">
            <command_interface name="position"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
        <joint name="front_right_steer_joint">
            <command_interface name="position"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
    </ros2_control>
    <gazebo>
        <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
            <parameters>$(find ft24_control)/config/ft24_config.yml</parameters>
        </plugin>
    </gazebo>
</robot>