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scout_bringup: launch: cleanup launch file and add scout_mini

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Pin Loon Lee
2021-10-21 16:18:24 +08:00
parent 5f39943b68
commit 71bd7eab20
3 changed files with 49 additions and 0 deletions
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22
scout_bringup/launch/scout_mini_minimal.launch Normal file
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<launch>
<arg name="port_name" value="can0" />
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="false" />
<arg name="simulated_robot" value="false" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
<arg name="odom_topic_name" default="odom" />
<include file="$(find scout_base)/launch/scout_mini_base.launch">
<arg name="port_name" default="$(arg port_name)" />
<arg name="is_scout_mini" default="$(arg is_scout_mini)" />
<arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
<arg name="simulated_robot" default="$(arg simulated_robot)" />
<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
</include>
<include file="$(find scout_description)/launch/description.launch">
<arg name="model_xacro" default="$(arg model_xacro)" />
</include>
</launch>

23
scout_bringup/launch/scout_mini_omni_minimal.launch Normal file
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<launch>
<arg name="port_name" value="can0" />
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="true" />
<arg name="simulated_robot" value="false" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
<!-- <arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_omni_v2.xacro" /> -->
<arg name="odom_topic_name" default="odom" />
<include file="$(find scout_base)/launch/scout_mini_omni_base.launch">
<arg name="port_name" default="$(arg port_name)" />
<arg name="is_scout_mini" default="$(arg is_scout_mini)" />
<arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
<arg name="simulated_robot" default="$(arg simulated_robot)" />
<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
</include>
<include file="$(find scout_description)/launch/description.launch">
<arg name="model_xacro" default="$(arg model_xacro)" />
</include>
</launch>

4
scout_bringup/launch/scout_minimal.launch
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@@ -1,12 +1,16 @@
<launch> <launch>
<arg name="port_name" value="can0" /> <arg name="port_name" value="can0" />
<arg name="is_scout_mini" default="false" />
<arg name="is_omni_wheel" default="false" />
<arg name="simulated_robot" value="false" /> <arg name="simulated_robot" value="false" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" /> <arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
<arg name="odom_topic_name" default="odom" /> <arg name="odom_topic_name" default="odom" />
<include file="$(find scout_base)/launch/scout_base.launch"> <include file="$(find scout_base)/launch/scout_base.launch">
<arg name="port_name" default="$(arg port_name)" /> <arg name="port_name" default="$(arg port_name)" />
<arg name="is_scout_mini" default="$(arg is_scout_mini)" />
<arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
<arg name="simulated_robot" default="$(arg simulated_robot)" /> <arg name="simulated_robot" default="$(arg simulated_robot)" />
<arg name="odom_topic_name" default="$(arg odom_topic_name)" /> <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
</include> </include>