From 6027c57e94d71b7d1b845645e41d5f8265a964c7 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Wed, 14 May 2025 13:09:43 +0300
Subject: [PATCH] feat(robot): add robot_ip in ros2_control macro

---
 urdf/ros2_control.xacro | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/urdf/ros2_control.xacro b/urdf/ros2_control.xacro
index bacc160..34ba3ff 100644
--- a/urdf/ros2_control.xacro
+++ b/urdf/ros2_control.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="aubo_ros2_control" params="hardware">
+  <xacro:macro name="aubo_ros2_control" params="hardware robot_ip:=^">
     <ros2_control name="aubo_hardware_interface" type="system">
       <hardware>
         <xacro:if value="${hardware=='gazebo'}">
@@ -10,7 +10,8 @@
           <plugin>mock_components/GenericSystem</plugin>
         </xacro:if>
         <xacro:if value="${hardware=='real'}">
-          <plugin>aubo_ros2_control/AuboSystem</plugin>
+          <plugin>aubo_driver/AuboHardwareInterface</plugin>
+          <param name="robot_ip">${robot_ip}</param>
         </xacro:if>
       </hardware>