Commit 30f6abb9 authored by Christian Sponfeldner's avatar Christian Sponfeldner

fixes for launch files

parent afbfcf02
<launch>
<arg name="cmdvel_map" default= "cmd_vel"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find emros_general)/urdf/emmi01.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro '$(find emros_bringup)/urdf/2WD.xacro'" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
......
<launch>
<arg name="cmdvel_map" />
<!-- <rosparam file="$(find emros_teleop)/sepp_teleop.yaml" command="load" ns="teleop" /> -->
<param name="robot_description" command="$(find xacro)/xacro '$(find emros_general)/urdf/sepp.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro '$(find emros_bringup)/urdf/4WD.xacro'" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
......
......@@ -4,7 +4,6 @@
<include file="$(find emros_dispatcher)/launch/dispatcher.launch" >
<arg name="target_ip" value="192.168.3.222" />
<arg name="source_ip" value="192.168.3.22" />
<arg name="port" value="65000" />
</include>
......
......@@ -4,7 +4,6 @@
<include file="$(find emros_dispatcher)/launch/dispatcher.launch" >
<arg name="target_ip" value="192.168.178.222" />
<arg name="source_ip" value="0.0.0.0" />
<arg name="port" value="65000" />
</include>
......
......@@ -8,7 +8,7 @@
<include file="$(find emros_teleop)/launch/emros_teleoperation_spacenav.launch">
<include file="$(find emros_teleop)/launch/diff_spacenav.launch">
<arg name="cmd_vel" value="cmd_vel" />
</include>
......
......@@ -8,7 +8,7 @@
<include file="$(find emros_teleop)/launch/emros_teleoperation_spacenav.launch">
<include file="$(find emros_teleop)/launch/mecanum_spacenav.launch">
<arg name="cmd_vel" value="cmd_vel" />
</include>
......
<?xml version="1.0"?>
<launch>
<arg name="cmd_vel" default= "cmd_vel"/>
<rosparam file="$(find emros_teleop)/config/spacenav_teleop.yaml" command="load" ns="teleop" />
<node pkg="spacenav_node" type="spacenav_node" name="$(anon spacenav_node)" output="screen">
<param name="zero_when_static" value="true"/>
<param name="static_count_threshold" value="200"/>
<param name="static_trans_deadband" value="0"/>
<param name="static_rot_deadband" value="0"/>
</node>
<node pkg="emros_teleop" type="teleop" name="teleop" output="screen">
<param name="maxVelocity/lin" value="1.5"/>
<param name="maxVelocity/rot" value="1.7"/>
<param name="enable_omni" value="true"/>
<param name="offsetX" value="0.1"/>
<param name="offsetY" value="0.3"/>
<param name="offsetWz" value="0.05"/>
<param name="maxAcceleration/lin" value="1.5"/>
<param name="maxAcceleration/rot" value="1.5"/>
<remap from="cmd_vel" to="$(arg cmd_vel)" />
</node>
</launch>
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