mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
23 lines
952 B
XML
23 lines
952 B
XML
<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="$(arg port_name)" />
|
|
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
|
|
|
|
<param name="odom_frame" type="string" value="odom" />
|
|
<param name="base_frame" type="string" value="base_link" />
|
|
</node>
|
|
</launch>
|