mirrors/scout_ros
1
0
Fork 0
mirror of https://github.com/westonrobot/scout_ros.git synced 2026-01-12 03:15:01 +08:00
Code Issues Packages Projects Releases Wiki Activity

messenger: cleaned up messenger interface

Browse Source
This commit is contained in:
Ruixiang Du
2021-10-05 16:54:36 +08:00
parent 117f8def26
commit 7d9f027137
5 changed files with 172 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
scout_base/launch/scout_mini_omni_base.launch Normal file
View File

@@ -0,0 +1,28 @@
<launch>
<!--
The robot can be controlled either through CAN bus or UART port. Make sure the hardware
interface is set up correctly before attempting to connect to the robot.
You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should
operate with the following configuration:
* CAN bus: 500k
* UART: 115200, Parity None, 8-bit Data, 1 Stop Bit
-->
<arg name="port_name" default="can0" />
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="true" />
<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" />
<param name="base_frame" type="string" value="base_link" />
<param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />
</node>
</launch>