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updated template to support scout/scout mini/scout mini omni with v1 and v2 protocol

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This commit is contained in:
Ruixiang Du
2021-10-05 19:01:10 +08:00
parent 27f4e5d411
commit 266d68d5fe
6 changed files with 117 additions and 101 deletions
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2
scout_base/launch/scout_base.launch
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@@ -11,11 +11,13 @@
-->
<arg name="port_name" default="can0" />
<arg name="is_scout_mini" default="false" />
<arg name="is_omni_wheel" default="false" />
<arg name="simulated_robot" default="false" />
<arg name="odom_topic_name" default="odom" />
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
<param name="is_omni_wheel" type="bool" value="$(arg is_omni_wheel)" />
<param name="port_name" type="string" value="$(arg port_name)" />
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="odom_frame" type="string" value="odom" />

2
scout_base/launch/scout_mini_base.launch
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@@ -11,11 +11,13 @@
-->
<arg name="port_name" default="can0" />
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="false" />
<arg name="simulated_robot" default="false" />
<arg name="odom_topic_name" default="odom" />
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
<param name="is_omni_wheel" type="bool" value="$(arg is_omni_wheel)" />
<param name="port_name" type="string" value="$(arg port_name)" />
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="odom_frame" type="string" value="odom" />

2
scout_base/launch/scout_mini_omni_base.launch
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@@ -11,7 +11,7 @@
-->
<arg name="port_name" default="can0" />
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="true" />
<arg name="is_omni_wheel" default="true" />
<arg name="simulated_robot" default="false" />
<arg name="odom_topic_name" default="odom" />