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fixed state publish rate error (from 20hz to 50hz), gazebo scout v2 sim ready

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This commit is contained in:
Ruixiang Du
2020-04-02 11:43:29 +08:00
parent a1efd5b609
commit f73a2e2f59
15 changed files with 392 additions and 368 deletions
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22
scout_base/launch/scout_base_sim.launch Normal file
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<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="simulated_robot" default="true" />
<arg name="control_rate" default="50" />
<node name="scout_base_sim_node" pkg="scout_base" type="scout_base_sim_node" output="screen">
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="control_rate" type="int" value="$(arg control_rate)" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" />
</node>
</launch>