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updated launch files and readme

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This commit is contained in:
Ruixiang Du
2019-10-10 11:13:11 +08:00
parent fff2e3f73b
commit ef72005125
11 changed files with 130 additions and 54 deletions
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18
scout_base/launch/scout_base.launch
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@@ -1,10 +1,22 @@
<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="simulated_robot" default="false" />
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="port_name" type="string" value="can0" />
<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="simulated_robot" type="bool" value="false" />
</node>
</launch>