Commit 624830ac authored by Sydney Speckle's avatar Sydney Speckle

remove unnecessary files and minor fixes

parent 8726b239
......@@ -4,17 +4,12 @@
<!-- <rosparam file="$(find emros_teleop)/sepp_teleop.yaml" command="load" ns="teleop" /> -->
<param name="robot_description" command="$(find xacro)/xacro '$(find emros_general)/urdf/sepp.xacro'" />
<!-- <include file="$(find emros_dispatcher)/launch/dispatcher.launch" >
<arg name="target_ip" value="10.1.61.222" />
<arg name="source_ip" value="10.1.61.5" />
<arg name="port" value="65000" />
</include> -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node pkg="emros_basecontroller" type="basecontroller" name="basecontroller" output="screen">
<node pkg="emros_basecontroller" type="emros_basecontroller_node" name="basecontroller" output="screen">
<param name="mode_of_operation" value="MECANUM"/>
<param name="width_robot" value="0.380"/>
<param name="length_robot" value="0.4954"/>
......
#where to look for costmap parameters
costmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap"
#frequency at which the get_footprint service should be called
#footprint_update_frequency: 0
#Parameters specifying slow down behaviour
pot_ctrl_vmax: 1 #default: 0.6
pot_ctrl_vtheta_max: 1 #default: 0.8
pot_ctrl_kv: 2.5 #damping default: 1.0
pot_ctrl_kp: 3.0 #stiffness default: 2.0
pot_ctrl_virt_mass: 0.5 #default: 0.8
max_acceleration: [0.5, 0.5, 0.4]
#Parameters specifying collision velocity filter
influence_radius: 2.0 #[m] distance from robot_center
obstacle_damping_dist: 0.3 # used as slow-down dist
stop_threshold: 0.1 #[m]
use_circumscribed_threshold: 0.2 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations
# node from which initial footprint is read
footprint_source: /local_costmap_node/costmap
#
robot_base_frame: /base_link
# frames to check for footprint adjustment
#frames_to_check:
epsilon: 0.01
# global information
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 5.0
map_type: costmap
# local map settings
static_map: false
rolling_window: true
width: 5.0
height: 5.0
resolution: 0.07
# footprint and range
obstacle_range: 3.0 #[m]
#max_obstacle_height: 2.0 #[m]
raytrace_range: 3.0 #3.0 #[m]
footprint: [[0.40, -0.22], [0.40, 0.22], [-0.40, 0.22 ], [-0.40, -0.22]] #[m]
#footprint_padding: 0.02 #[m]
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
inflation_layer:
inflation_radius: 0.05 #[m]
# sensor setup
obstacle_layer:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser_front, data_type: LaserScan, topic: scan, marking: true, clearing: true}
<launch>
<include file="$(find sepp_bringup)/launch/sepp_bringup_no_sonar.launch" />
<include file="$(find sepp_general)/launch/sepp_naviagtion_with_amcl_map.launch" />
<!--node pkg="sepp_demo" type="sepp_demo" respawn="true" name="sepp_demo" output="screen"-->
<!--/node-->
</launch>
<?xml version="1.0"?>
<launch>
<node pkg="emros_auxiliary_motor" type="emros_auxiliary_motor" name="$(anon emros_auxiliary_motor)" output="screen">
<param name="manual_mode" value="true"/>
</node>
</launch>
\ No newline at end of file
......@@ -8,7 +8,7 @@
<arg name="port" value="65000" />
</include>
<node pkg="remote_management" type="node.py" name="remote_management" respawn="true" output="log"/>
<!--node pkg="remote_management" type="node.py" name="remote_management" respawn="true" output="log"/-->
</launch>
......@@ -3,12 +3,12 @@
<launch>
<include file="$(find emros_dispatcher)/launch/dispatcher.launch" >
<arg name="target_ip" value="10.1.61.222" />
<arg name="source_ip" value="10.1.61.21" />
<arg name="target_ip" value="192.168.178.222" />
<arg name="source_ip" value="0.0.0.0" />
<arg name="port" value="65000" />
</include>
<node pkg="remote_management" type="node.py" name="remote_management" respawn="true" output="log"/>
<!--node pkg="remote_management" type="node.py" name="remote_management" respawn="true" output="log"/-->
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find emros_bringup)/launch/emros_desktop_core.launch" />
<include file="$(find emros_basecontroller)/launch/emros_bringup_diffbase.launch" >
<arg name="cmdvel_map" value="cmd_vel" />
</include>
<include file="$(find emros_teleop)/launch/emros_teleoperation_spacenav.launch">
</include>
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find emros_basecontroller)/launch/emros_bringup_diffbase.launch" >
<arg name="cmdvel_map" value="safe_vel" />
</include>
<include file="$(find sweep_ros)/launch/sweep.launch" >
<arg name="serial_port" value="/dev/sweep_front" />
<arg name="frame_id" value="laser_front" />
<arg name="name" value="laser_front" />
<arg name="topic" value="laser_front" />
</include>
<include file="$(find sweep_ros)/launch/sweep.launch" >
<arg name="serial_port" value="/dev/sweep_rear" />
<arg name="frame_id" value="laser_rear" />
<arg name="name" value="laser_rear" />
<arg name="topic" value="laser_front" />
</include>
<include file="$(find emros_bringup)/launch/emros_teleoperation.launch"/>
<include file="$(find emros_assisted_teleop)/launch/emmi_assisted_teleop.launch" >
<arg name="cmdvel_map" value="safe_vel" />
<arg name="target_ip" value="10.1.61.222" />
<arg name="source_ip" value="10.1.61.5" />
<arg name="port" value="65000" />
</include>
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<launch>
<include file="$(find emros_general)/launch/emmi_description.launch">
<!--<arg name="scan_topic" value="scan"/>-->
</include>
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find emros_bringup)/launch/mapping_default.launch">
<arg name="pub_map_odom_transform" value="true"/>
<arg name="map_frame" value="map" />
<arg name="base_frame" value="base_link" />
<arg name="odom_frame" value="odom" />
</include>
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find emros_basecontroller)/launch/emros_bringup_diffbase.launch" >
<arg name="cmdvel_map" value="cmd_vel" />
</include>
<!-- <include file="$(find sweep_ros)/launch/sweep.launch" >
<arg name="serial_port" value="/dev/sweep_front" />
<arg name="frame_id" value="laser_front" />
<arg name="name" value="laser_front" />
<arg name="topic" value="laser_front" />
</include>
<include file="$(find sweep_ros)/launch/sweep.launch" >
<arg name="serial_port" value="/dev/sweep_rear" />
<arg name="frame_id" value="laser_rear" />
<arg name="name" value="laser_rear" />
<arg name="topic" value="laser_rear" />
</include> -->
<include file="$(find emros_teleop)/launch/emros_teleoperation_cn.launch">
<arg name="joy" value="joy" />
</include>
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<launch>
<include file="$(find emros_basecontroller)/launch/emros_bringup_diff.launch" >
<arg name="cmdvel_map" value="cmd_vel" />
</include>
<include file="$(find sweep_ros)/launch/sweep2scan.launch" />
<include file="$(find emros_teleop)/launch/emros_teleoperation_cn.launch">
<arg name="joy" value="joy" />
</launch>
<?xml version="1.0"?>
<launch>
<rosparam file="$(find emros_teleop)/sepp_teleop.yaml" command="load" ns="teleop" />
<node pkg="spacenav_node" type="spacenav_node" name="$(anon spacenav_node)" output="screen">
<param name="zero_when_static" value="true"/>
<param name="static_count_threshold" value="200"/>
<param name="static_trans_deadband" value="0"/>
<param name="static_rot_deadband" value="0"/>
</node>
<node pkg="emros_teleop" type="teleop" name="teleop" output="screen">
<param name="maxVelocity/lin" value="1.5"/>
<param name="maxVelocity/rot" value="1.7"/>
<param name="enable_omni" value="false"/>
<param name="offsetX" value="0.3"/>
<param name="offsetY" value="0.3"/>
<param name="offsetWz" value="0.3"/>
<param name="maxAcceleration/lin" value="1.5"/>
<param name="maxAcceleration/rot" value="1.5"/>
</node>
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_frame"/>
<arg name="odom_frame" default="odom_frame"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<arg name="map_frame" default="map_frame"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="$(arg map_frame)" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>
......@@ -2,7 +2,7 @@
<launch>
<include file="$(find emros_basecontroller)/launch/emros_bringup_diffbase.launch" >
<include file="$(find emros_basecontroller)/launch/emros_bringup_mecanumbase.launch" >
<arg name="cmdvel_map" value="cmd_vel" />
</include>
......
......@@ -6,12 +6,11 @@
<arg name="cmdvel_map" value="cmd_vel" />
</include>
<include file="$(find emros_general)/launch/hokuyo_laser.launch" />
<include file="$(find emros_teleop)/launch/emros_teleoperation_spacenav.launch">
<arg name="joy" value="spacenav/joy" />
<arg name="cmd_vel" value="cmd_vel" />
</include>
</launch>
\ No newline at end of file
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find emros_basecontroller)/launch/emros_bringup_mecanumbase.launch" >
<arg name="cmdvel_map" value="cmd_vel" />
</include>
<include file="$(find emros_general)/launch/hokuyo_laser.launch" />
<include file="$(find emros_general)/launch/sepp_navigtion_with_amcl_map_v2.launch" />
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<launch>
<include file="$(find emros_basecontroller)/launch/emros_bringup_mecanumbase.launch" >
<arg name="cmdvel_map" value="cmd_vel" />
</include>
<include file="$(find emros_general)/launch/hokuyo_laser.launch" />
<include file="$(find emros_teleop)/launch/emros_teleoperation_tablet.launch">
<arg name="joy" value="joy" />
</launch>
\ No newline at end of file
<launch>
<rosparam file="$(find sepp_teleop)/sepp_teleop.yaml" command="load" ns="sepp_teleop" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sepp_general)/urdf/robot2.urdf'" />
<param name="sepp_dispatcher/TargetIP" value="192.168.3.222"/>
<param name="sepp_dispatcher/SourceIP" value="192.168.3.22"/>
<param name="sepp_dispatcher/Port" value="65000"/>
<node pkg="sepp_dispatcher" type="sepp_dispatcher" name="sepp_dispatcher" output="screen">
</node>
<node pkg="sepp_basecontroller" type="sepp_basecontroller" name="sepp_bascontroller" output="screen">
<remap from="cmd_vel" to="safe_vel" />
</node>
<node pkg="spacenav_node" type="spacenav_node" name="$(anon spacenav_node)" output="screen">
<param name="zero_when_static" value="true"/>
<param name="static_count_threshold" value="200"/>
<param name="static_trans_deadband" value="0"/>
<param name="static_rot_deadband" value="0"/>
</node>
<node pkg="sepp_teleop" type="sepp_teleop" name="sepp_teleop" output="screen">
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- start local costmap -->
<node name="local_costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen">
<rosparam file="$(find sepp_bringup)/config/local_costmap_params.yaml" command="load" ns="costmap" />
</node>
<!-- start footprint observer node -->
<node pkg="cob_footprint_observer" type="footprint_observer" name="footprint_observer" output="screen">
<!-- load parameter file -->
<rosparam file="$(find sepp_bringup)/config/footprint_observer_params.yaml" command="load" />
</node>
<!-- start collision velocity filter node -->
<node pkg="cob_collision_velocity_filter" type="collision_velocity_filter" name="collision_velocity_filter" output="screen">
<!-- remap incoming variables -->
<remap from="~obstacles" to="/local_costmap_node/costmap/costmap" />
<remap from="~teleop_twist" to="cmd_vel" />
<!-- remap outgoing variables -->
<remap from="~command" to="safe_vel" />
<remap from="~relevant_obstacles" to="/collision_velocity_filter/relevant_obstacles" />
<!-- load parameter file -->
<rosparam file="$(find sepp_bringup)/config/collision_velocity_filter_params.yaml" command="load" />
</node>
</launch>
<?xml version="1.0"?>
<launch>
<rosparam file="$(find sepp_teleop)/sepp_teleop.yaml" command="load" ns="sepp_teleop" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sepp_general)/urdf/robot2.urdf'" />
<param name="sepp_dispatcher/TargetIP" value="192.168.3.222"/>
<param name="sepp_dispatcher/SourceIP" value="192.168.3.22"/>
<param name="sepp_dispatcher/Port" value="65000"/>
<node pkg="sepp_dispatcher" type="sepp_dispatcher" name="sepp_dispatcher" output="screen">
</node>
<node pkg="sepp_basecontroller" type="sepp_basecontroller" name="sepp_basecontroller" output="screen">
<remap from="cmd_vel" to="safe_vel" />
</node>
<node pkg="spacenav_node" type="spacenav_node" name="$(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="sepp_teleop" type="sepp_teleop" name="sepp_teleop" output="screen">
<param name="maxVelocity/lin" value="0.4"/>
<param name="maxVelocity/rot" value="0.6"/>
<param name="enable_omni" value="true"/>
<param name="offsetX" value="0.3"/>
<param name="offsetY" value="0.3"/>
<param name="offsetWz" value="0.3"/>
<param name="maxAcceleration/lin" value="1.5"/>
<param name="maxAcceleration/rot" value="1.5"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<include file="$(find sepp_bringup)/launch/hokuyo_laser.launch" />
</launch>
<launch>
<rosparam file="$(find sepp_teleop)/sepp_teleop.yaml" command="load" ns="sepp_teleop" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sepp_general)/urdf/robot2.urdf'" />
<param name="sepp_dispatcher/TargetIP" value="192.168.3.222"/>
<param name="sepp_dispatcher/SourceIP" value="192.168.3.22"/>
<param name="sepp_dispatcher/Port" value="65000"/>
<node pkg="sepp_dispatcher" type="sepp_dispatcher" name="sepp_dispatcher" output="screen">
</node>
<node pkg="sepp_basecontroller" type="sepp_basecontroller" name="sepp_basecontroller" output="screen">
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_front" output="screen">
<param name="id" value="3"/>
<param name="frame_id" value="sonar_front"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/front"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_rear" output="screen">
<param name="id" value="4"/>
<param name="frame_id" value="sonar_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/rear"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_right_front" output="screen">
<param name="id" value="5"/>
<param name="frame_id" value="sonar_right_front"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/right_front"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_right_rear" output="screen">
<param name="id" value="6"/>
<param name="frame_id" value="sonar_right_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/right_rear"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_left_front" output="screen">
<param name="id" value="7"/>
<param name="frame_id" value="sonar_left_front"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/left_front"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_left_rear" output="screen">
<param name="id" value="8"/>
<param name="frame_id" value="sonar_left_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/left_rear"/>
</node>
<node pkg="spacenav_node" type="spacenav_node" name="$(anon spacenav_node)" output="screen">
<param name="zero_when_static" value="true"/>
<param name="static_count_threshold" value="200"/>
<param name="static_trans_deadband" value="0"/>
<param name="static_rot_deadband" value="0"/>
</node>
<node pkg="sepp_teleop" type="sepp_teleop" name="sepp_teleop" output="screen">
</node>
<include file="$(find sepp_bringup)/launch/hokuyo_laser.launch" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
</launch>
<?xml version="1.0"?>
<launch>
<rosparam file="$(find emros_teleop)/sepp_teleop.yaml" command="load" ns="teleop" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find emros_general)/urdf/robot2.urdf'" />
<include file="$(find emros_dispatcher)/launch/dispatcher.launch" >
<arg name="target_ip" value="10.1.61.222" />
<arg name="source_ip" value="10.1.61.5" />
<arg name="port" value="65000" />
</include>
<include file="$(find emros_bringup)/launch/emros_teleoperation.launch"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node pkg="emros_basecontroller" type="basecontroller" name="basecontroller" output="screen">
<param name="mode_of_operation" value="DIFFERENTIAL"/>
<param name="width_robot" value="0.380"/>
<param name="length_robot" value="0.4954"/>
<param name="wheel_diameter" value="0.10"/>
<param name="gear_ratio" value="5.0"/>
<param name="controller_frequency" value="20.0"/>
</node>
</launch>
<launch>
<rosparam file="$(find sepp_teleop)/sepp_teleop.yaml" command="load" ns="sepp_teleop" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sepp_general)/urdf/robot2.urdf'" />
<param name="sepp_dispatcher/TargetIP" value="192.168.3.222"/>
<param name="sepp_dispatcher/SourceIP" value="192.168.3.22"/>
<param name="sepp_dispatcher/Port" value="65000"/>
<node pkg="sepp_dispatcher" type="sepp_dispatcher" name="sepp_dispatcher" output="screen">
</node>
<include file="$(find sepp_bringup)/launch/hokuyo_laser.launch" />
<node pkg="sepp_basecontroller" type="sepp_basecontroller" name="sepp_basecontroller" output="screen">
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
</launch>
<launch>
<rosparam file="$(find sepp_teleop)/sepp_teleop.yaml" command="load" ns="sepp_teleop" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sepp_general)/urdf/robot2.urdf'" />
<param name="sepp_dispatcher/TargetIP" value="192.168.3.222"/>
<param name="sepp_dispatcher/SourceIP" value="192.168.3.22"/>
<param name="sepp_dispatcher/Port" value="65000"/>
<node pkg="sepp_dispatcher" type="sepp_dispatcher" name="sepp_dispatcher" output="screen">
</node>
<include file="$(find sepp_bringup)/launch/hokuyo_laser.launch" />
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_rear" output="screen">
<param name="id" value="4"/>
<param name="frame_id" value="sonar_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/rear"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_right_rear" output="screen">
<param name="id" value="6"/>
<param name="frame_id" value="sonar_right_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/right_rear"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_left_rear" output="screen">
<param name="id" value="8"/>
<param name="frame_id" value="sonar_left_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/left_rear"/>
</node>
<node pkg="sepp_basecontroller" type="sepp_basecontroller" name="sepp_basecontroller" output="screen">
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
</launch>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sepp_general)/urdf/robot2.urdf'" />
<param name="sepp_dispatcher/TargetIP" value="192.168.3.222"/>
<param name="sepp_dispatcher/SourceIP" value="192.168.3.22"/>
<param name="sepp_dispatcher/Port" value="65000"/>
<node pkg="sepp_dispatcher" type="sepp_dispatcher" name="sepp_dispatcher" output="screen">
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_front" output="screen">
<param name="id" value="3"/>
<param name="frame_id" value="sonar_front"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/front"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_rear" output="screen">
<param name="id" value="4"/>
<param name="frame_id" value="sonar_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/rear"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_right_front" output="screen">
<param name="id" value="5"/>
<param name="frame_id" value="sonar_right_front"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/right_front"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_right_rear" output="screen">
<param name="id" value="6"/>
<param name="frame_id" value="sonar_right_rear"/>
<param name="field_of_view" value="0.93"/>
<remap from="sonar" to="sonar/right_rear"/>
</node>
<node pkg="sepp_sonar" type="sepp_sonar_node" name="sepp_sonar_left_front" output="screen">
<param name="id" value="7"/>
<param name="frame_id" value="sonar_left_front"/>
<param name="field_of_view" value="0.93"/>