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pd-tan
2020-09-18 09:58:32 +00:00
committed by Ruixiang Du
parent 31ff7d2878
commit 910a1e08f8
6 changed files with 232 additions and 206 deletions
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12
scout_bringup/launch/scout_minimal.launch
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@@ -2,17 +2,17 @@
<arg name="port_name" value="can0" />
<arg name="simulated_robot" value="false" />
<arg name = "model_xacro" default = "$(find scout_description)/urdf/scout_v2.xacro" />
<arg name ="odom_topic_name" default = "odomsdas"/>
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
<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="$(arg port_name)" />
<arg name="simulated_robot" default="$(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 = "$(arg model_xacro)" />
<include file="$(find scout_description)/launch/description.launch">
<arg name="model_xacro" default="$(arg model_xacro)" />
</include>
</launch>

11
scout_bringup/launch/scout_minimal_uart.launch
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@@ -2,17 +2,18 @@
<arg name="port_name" value="/dev/ttyUSB0" />
<arg name="simulated_robot" value="false" />
<arg name = "model_xacro" default = "$(find scout_description)/urdf/scout_v2.xacro" />
<arg name ="odom_topic_name" default = "odomsdas"/>
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
<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="$(arg port_name)" />
<arg name="simulated_robot" default="$(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 = "$(arg model_xacro)" />
<include file="$(find scout_description)/launch/description.launch">
<arg name="model_xacro" default="$(arg model_xacro)" />
</include>
</launch>

3
scout_bringup/launch/scout_teleop_keyboard.launch
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@@ -1,4 +1,7 @@
<launch>
<arg name="repeat_rate" value="50.0" />
<node name="teleop_keybord" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen">
<param name="repeat_rate" value="$(arg repeat_rate)" />
</node>
</launch>