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added option to select odom navmsgs topic name

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Tan Pin Da
2020-09-07 13:43:05 +08:00
parent 291f2baa08
commit 932b05cf72
4 changed files with 8 additions and 3 deletions
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4
scout_base/launch/scout_base.launch
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@@ -11,7 +11,8 @@
-->
<arg name="port_name" default="can0" />
<arg name="simulated_robot" default="false" />
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />>
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
<arg name ="odom_topic_name" default = "odom"/>
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="port_name" type="string" value="$(arg port_name)" />
@@ -19,6 +20,7 @@
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" />
<param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
</node>
<param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>