Add submodule

.gitmodules

+[submodule "ros2_hardware_interface_bolt/cmake"]
+	path = ros2_hardware_interface_bolt/cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git

ros2_control_bolt/package.xml

 <?xml version="1.0"?>
 <package format="3">
-  <name>ros2_control_demos</name>
+  <name>ros2_control_bolt</name>
   <version>0.0.0</version>
   <description>Metapackage for `ros2_control` demos packages</description>
 
@@ -13,8 +13,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ros2_control_bolt_bringup</exec_depend>
-  <exec_depend>diffbot_description</exec_depend>
-  <exec_depend>rrbot_description</exec_depend>
+  <exec_depend>ros2_description_bolt</exec_depend>
+<!---  <exec_depend>diffbot_description</exec_depend>
+  <exec_depend>rrbot_description</exec_depend> -->
   <exec_depend>ros2_hardware_interface_bolt</exec_depend>
   <exec_depend>ros2_control_test_nodes</exec_depend>
 

ros2_hardware_interface_bolt/CMakeLists.txt

@@ -64,7 +64,6 @@ find_package(master_board_sdk REQUIRED)
 
 
 #find_package(ros2_control REQUIRED)
-#find_package(ros2_control_demos REQUIRED)
 
 
 add_project_dependency(yaml-cpp CONFIG REQUIRED)
@@ -79,7 +78,7 @@ add_project_dependency(controller_interface REQUIRED)
 #add_project_dependency(pluginlib REQUIRED)
 #add_project_dependency(rclcpp REQUIRED)
 #add_project_dependency(ros2_control REQUIRED)
-#add_project_dependency(ros2_control_demos REQUIRED)
+
 
 # Set component to fetch from boost Get the python interface for the bindings
 if(BUILD_PYTHON_INTERFACE)
@@ -187,3 +186,4 @@ create_bolt_demo(demo_bolt_from_yaml)
 create_bolt_demo(demo_bolt_sensor_reading)
 create_bolt_demo(demo_bolt_calibration)
 create_bolt_demo(demo_bolt_write_commands)
+#create_bolt_demo(test_start)

cmake @ a689714c

+Subproject commit a689714c0d0890ffff5649ba25cbaed44dd6e660

ros2_hardware_interface_bolt/package.xml

-<!-- Adaptation of package.xml from odri_control_interface -->
-
 <?xml version="1.0"?>
 <?xml-model
    href="http://download.ros.org/schema/package_format3.xsd"
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 
+<!-- Adaptation of package.xml from odri_control_interface -->
 
 <package format="3">
 
-    <name>ros2_control_bolt</name>
+    <name>ros2_hardware_interface_bolt</name>
     <version>1.0.0</version>
 
     <description>
@@ -34,11 +33,12 @@
     <depend>eigenpy</depend>
     
     
-    <!-- Modules usefull for rrbot_system_bolt -->
+    <!-- Modules usefull for system_bolt -->
     <depend>hardware_interface</depend>
     <depend>pluginlib</depend>
     <depend>rclcpp</depend>
-
+    <depend>odri_control_interface</depend>
+    <depend>controller_interface</depend>
     
     
     <test_depend>ament_cmake_gtest</test_depend>

ros2_hardware_interface_bolt/test/test_start.cpp

+/*#include <system_bolt.hpp>
+
+#include <odri_control_interface/utils.hpp>
+#include <odri_control_interface/imu.hpp>
+
+#include <iostream>
+#include <stdexcept>
+
+
+int main()
+{
+	start();
+	return 0;
+}*/