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updated ros wrapper to work with can sdk

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This commit is contained in:
Ruixiang Du
2019-06-14 11:10:51 -04:00
parent 7807b33529
commit 48037d0d88
4417 changed files with 628441 additions and 8525 deletions
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14
scout_base/launch/keybord.launch
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@@ -1,14 +0,0 @@
<launch>
<node name="keybord" pkg="scout_base" type="keybord" output="screen">
<param name="input" value="/dev/input/event3" />
<param name="walk_vel" value="0.5" />
<param name="run_vel" value="0.5" />
<param name="max_tv" value="2.0" />
<param name="max_rv" value="2.6" />
</node>
</launch>

15
scout_base/launch/scout_base.launch
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@@ -1,15 +1,10 @@
<launch>
<node name="scout_odom" pkg="scout_base" type="scout_base_node" output="screen">
<param name="port_name" type="string" value="can1" />
<node name="scout_odom" pkg="scout_base" type="scout_ros" output="screen">
<param name="port_name" type="string" value="/dev/ttyUSB0" />
<param name="baud_rate" value="115200" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_footprint" />
<param name="control_rate" value="10" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_footprint" />
<param name="control_rate" value="10" />
</node>
</launch>

4
scout_base/launch/teleop_keyboard.launch Normal file
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@@ -0,0 +1,4 @@
<launch>
<node name="teleop_keybord" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen">
</node>
</launch>