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drhieu
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May 18, 2021
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| <launch> | ||
| <arg name="config_locks" default="$(find rr_rover_zero_v2_driver)/config/twist_mux_locks.yaml"/> | ||
| <arg name="config_topics" default="$(find rr_rover_zero_v2_driver)/config/twist_mux_topics.yaml"/> | ||
| <arg name="node_name" default="rr_rover_zero_v2_driver_node" /> | ||
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| <!-- Optionally launch in GDB, for debugging --> | ||
| <arg name="debug" default="false" /> | ||
| <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" /> | ||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | ||
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| <!-- driver parameters --> | ||
| <arg name="port" default="/dev/rover-zero-v2" /> | ||
| <arg name="canaddress" default="8" /> | ||
| <!-- driver node --> | ||
| <node pkg="rr_rover_zero_v2_driver" type="rr_rover_zero_v2_driver_node" name="$(arg node_name)" | ||
| output="screen" launch-prefix="$(arg launch_prefix)" > | ||
| <param name="port" value="$(arg port)" /> | ||
| <remap from="/cmd_vel" to="/cmd_vel/managed" /> | ||
| </node> | ||
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| <!-- <!– Twist Mux –>--> | ||
| <node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen"> | ||
| <remap from="cmd_vel_out" to="/cmd_vel/managed"/> | ||
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| <rosparam file="$(arg config_locks)" command="load"/> | ||
| <rosparam file="$(arg config_topics)" command="load"/> | ||
| </node> | ||
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| <!-- Control input manager--> | ||
| <node pkg="rr_control_input_manager" type="control_input_manager.py" name="rr_control_input_manager_node" output="log" > | ||
| <param name="driver" value="xboxdrv"/> | ||
| <param name="wired_or_wireless" value="wireless"/> | ||
| <rosparam file="$(find rr_control_input_manager)/config/input_topics.yaml" command="load"/> | ||
| </node> | ||
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| <!-- PS4 Ubuntu Driver --> | ||
| <include file="$(find ds4_driver)/launch/ds4_driver.launch" > | ||
| <arg name="addr" value="" /> | ||
| <arg name="use_standard_msgs" value="false" /> | ||
| </include> | ||
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| <!-- PS4 Mapper --> | ||
| <node pkg="rr_control_input_manager" type="ps4_mapper.py" name="ps4_mapper" output="screen" > | ||
| <rosparam command="load" file="$(find rr_rover_zero_v2_driver)/config/ps4_controller.yaml" /> | ||
| <param name="stamped" value="True" /> | ||
| </node> | ||
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| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| <launch> | ||
| <arg name="config_locks" default="$(find rr_rover_zero_v2_driver)/config/twist_mux_locks.yaml"/> | ||
| <arg name="config_topics" default="$(find rr_rover_zero_v2_driver)/config/twist_mux_topics.yaml"/> | ||
| <arg name="node_name" default="rr_rover_zero_v2_driver_node" /> | ||
|
|
||
| <!-- Optionally launch in GDB, for debugging --> | ||
| <arg name="debug" default="false" /> | ||
| <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" /> | ||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | ||
|
|
||
| <!-- driver parameters --> | ||
| <arg name="port" default="/dev/rover-zero-v2" /> | ||
| <arg name="canaddress" default="8" /> | ||
| <!-- driver node --> | ||
| <node pkg="rr_rover_zero_v2_driver" type="rr_rover_zero_v2_driver_node" name="$(arg node_name)" | ||
| output="screen" launch-prefix="$(arg launch_prefix)" > | ||
| <param name="port" value="$(arg port)" /> | ||
| <remap from="/cmd_vel" to="/cmd_vel/managed" /> | ||
| </node> | ||
|
|
||
| <!-- <!– Twist Mux –>--> | ||
| <node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen"> | ||
| <remap from="cmd_vel_out" to="/cmd_vel/managed"/> | ||
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||
| <rosparam file="$(arg config_locks)" command="load"/> | ||
| <rosparam file="$(arg config_topics)" command="load"/> | ||
| </node> | ||
|
|
||
| <!-- Control input manager--> | ||
| <node pkg="rr_control_input_manager" type="control_input_manager.py" name="rr_control_input_manager_node" output="log" > | ||
| <param name="driver" value="xboxdrv"/> | ||
| <param name="wired_or_wireless" value="wireless"/> | ||
| <rosparam file="$(find rr_control_input_manager)/config/input_topics.yaml" command="load"/> | ||
| </node> | ||
|
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||
| <!-- PS4 Ubuntu Driver --> | ||
| <include file="$(find ds4_driver)/launch/ds4_driver.launch" > | ||
| <arg name="addr" value="" /> | ||
| <arg name="use_standard_msgs" value="false" /> | ||
| </include> | ||
|
|
||
| <!-- PS4 Mapper --> | ||
| <node pkg="rr_control_input_manager" type="ps4_mapper.py" name="ps4_mapper" output="screen" > | ||
| <rosparam command="load" file="$(find rr_rover_zero_v2_driver)/config/ps4_controller.yaml" /> | ||
| <param name="stamped" value="True" /> | ||
| </node> | ||
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| </launch> |