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29 lines
1.4 KiB
XML
29 lines
1.4 KiB
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="port_name" default="can0" />
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<arg name="simulated_robot" default="false" />
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<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
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<arg name ="odom_topic_name" default = "odom"/>
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<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
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<param name="port_name" type="string" value="$(arg port_name)" />
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<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
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<param name="odom_frame" type="string" value="odom" />
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<param name="base_frame" type="string" value="base_link" />
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<param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
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</node>
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<param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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</launch>
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