-
Notifications
You must be signed in to change notification settings - Fork 0
/
test.launch
38 lines (35 loc) · 1.7 KB
/
test.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
<?xml version="1.0"?>
<launch>
<!--group ns="$(env ROBOT)"-->
<!--param name="robot_description"
command="$(find xacro)/xacro.py '$(find smp_description)/urdf/smp_skidsteer.urdf.xacro'" />
<arg name="fl_wheel" value="wheel_front_left_joint" />
<arg name="fr_wheel" value="wheel_front_right_joint" />
<arg name="bl_wheel" value="wheel_back_left_joint" />
<arg name="br_wheel" value="wheel_back_right_joint" /-->
<node name="dual_diff_drive" pkg="dual_diff_drive" type="dual_diff_drive"
output="screen">
<!--param name="wheel_base" value="0.4454" type="double"/>
<param name="wheel_radius" value="0.12" type="double"/>
<param name="front_left" value="$(arg fl_wheel)" />
<param name="front_right" value="$(arg fr_wheel)" />
<param name="back_left" value="$(arg bl_wheel)" />
<param name="back_right" value="$(arg br_wheel)" /-->
</node>
<node name="nxtgen_driver_node" pkg="roboteq_nxtgen_controller" type="nxtgen_driver_node" output="screen">
<param name="port" value="/dev/dual_diff_drive/front"/>
<param name="use_encoders" value="true"/>
<param name="ch1_joint_name" value="left"/>
<param name="ch2_joint_name" value="right"/>
<!--param name="wheelbase_length" value="0.4445" />
<param name="left_front_joint_name" value="$(arg fl_wheel)" />
<param name="right_front_joint_name" value="$(arg fr_wheel)" />
<param name="left_back_joint_name" value="$(arg bl_wheel)" />
<param name="right_back_joint_name" value="$(arg br_wheel)" />
<param name="publish_tf" value="false" />
<param name="odom_publish_rate" value="15" />
<remap from="joint_states" to="joint_states_agg" /-->
</node>
<!--/group-->
<!--include file="$(find smp_bringup)/launch/smp_no_controller.launch"/-->
</launch>