From e2a02736e9243c92644716f48b07fe06b8da257d Mon Sep 17 00:00:00 2001
From: Abe Tomoaki <abe@clear-code.com>
Date: Thu, 9 Oct 2025 09:17:19 +0900
Subject: [PATCH 1/2] Update the Hardware Plugin Config section of the README

* Fix the path to `openarm.ros2_control.xacro`.
* dd a configuration example for bimanual.
  * GitHub issue: https://github.com/enactic/openarm_ros2/issues/56

Thanks for the work, silenzio777!

Co-authored-by: silenzio777 <silenzio777@users.noreply.github.com>
---
 README.md | 28 ++++++++++++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 76229f7..384e436 100644
--- a/README.md
+++ b/README.md
@@ -27,10 +27,10 @@ Please note that running multiple instances of the website will cause conflictin
 
 ### Hardware Plugin Config
 
-The hardware plugin is specified in `openarm_description/openarm.ros2_control.xacro` as follows:
+The hardware plugin is specified in `openarm_description/urdf/ros2_control/openarm.ros2_control.xacro` as follows:
 
 ```xml
-<ros2_control name="openarm_system" type="system">
+<ros2_control name="openarm_hardware_interface" type="system">
   <hardware>
     <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
     <param name="prefix">left_</param>
@@ -41,3 +41,27 @@ The hardware plugin is specified in `openarm_description/openarm.ros2_control.xa
 ```
 
 When using OpenArm in a bimanual configuration, the WebSocket ports default to 1337 for right arm and 1338 for left arm commands. However, in practice commands can be sent and states can be received through any connected port.
+
+Configuration example in `urdf/ros2_control/openarm.bimanual.ros2_control.xacro`:
+
+```xml
+<!-- Left Arm Hardware Interface -->
+<ros2_control name="openarm_left_hardware_interface" type="system">
+  <hardware>
+    <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
+    <param name="prefix">left_</param>
+    <param name="websocket_port">1337</param>
+  </hardware>
+  <!-- Joint configurations -->
+</ros2_control>
+
+<!-- Right Arm Hardware Interface -->
+<ros2_control name="openarm_right_hardware_interface" type="system">
+  <hardware>
+    <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
+    <param name="prefix">right_</param>
+    <param name="websocket_port">1338</param>
+  </hardware>
+  <!-- Joint configurations -->
+</ros2_control>
+```

From c06905f027d4f4f1e2cd8a77ca46b279705ca682 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <t95zhou@uwaterloo.ca>
Date: Wed, 8 Oct 2025 22:24:55 -0400
Subject: [PATCH 2/2] Patch port numbers for consistency

---
 README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 384e436..a9f312f 100644
--- a/README.md
+++ b/README.md
@@ -34,7 +34,7 @@ The hardware plugin is specified in `openarm_description/urdf/ros2_control/opena
   <hardware>
     <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
     <param name="prefix">left_</param>
-    <param name="websocket_port">1337</param>
+    <param name="websocket_port">1338</param>
   </hardware>
   <!-- Joint configurations -->
 </ros2_control>
@@ -50,7 +50,7 @@ Configuration example in `urdf/ros2_control/openarm.bimanual.ros2_control.xacro`
   <hardware>
     <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
     <param name="prefix">left_</param>
-    <param name="websocket_port">1337</param>
+    <param name="websocket_port">1338</param>
   </hardware>
   <!-- Joint configurations -->
 </ros2_control>
@@ -60,7 +60,7 @@ Configuration example in `urdf/ros2_control/openarm.bimanual.ros2_control.xacro`
   <hardware>
     <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
     <param name="prefix">right_</param>
-    <param name="websocket_port">1338</param>
+    <param name="websocket_port">1337</param>
   </hardware>
   <!-- Joint configurations -->
 </ros2_control>