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23 lines
963 B
XML
23 lines
963 B
XML
<launch>
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<!--
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The robot can be controlled either through CAN bus or UART port. Make sure the hardware
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interface is set up correctly before attempting to connect to the robot.
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You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should
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operate with the following configuration:
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* CAN bus: 500k
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* UART: 115200, Parity None, 8-bit Data, 1 Stop Bit
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-->
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<arg name="simulated_robot" default="true" />
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<arg name="control_rate" default="50" />
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<node name="scout_base_sim_node" pkg="scout_base" type="scout_base_sim_node" output="screen">
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<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
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<param name="control_rate" type="int" value="$(arg control_rate)" />
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<param name="odom_frame" type="string" value="odom" />
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<param name="base_frame" type="string" value="base_link" />
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</node>
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</launch>
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