ellensohn/cps_loki_bringup
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update

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This commit is contained in:
Björn Ellensohn 2023-07-26 10:39:34 +02:00
parent 1a2de49ab6
commit 7c5e336efa
3 changed files with 4 additions and 94 deletions
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2
config/diffbot_controllers.yaml
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@ -41,7 +41,7 @@ diffbot_base_controller:
open_loop: false open_loop: false
#enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion) #enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion)
cmd_vel_timeout: 0.5 cmd_vel_timeout: 0.1
#publish_limited_velocity: true #publish_limited_velocity: true
use_stamped_vel: false use_stamped_vel: false
velocity_rolling_window_size: 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml velocity_rolling_window_size: 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml

34
launch/robot_controller.launch.py
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@ -72,39 +72,9 @@ def generate_launch_description():
arguments=["diffbot_base_controller", "-c", "/controller_manager"], arguments=["diffbot_base_controller", "-c", "/controller_manager"],
) )
joystick_spawner = Node(
package="joy",
executable="joy_node"
)
teleop_spawner = Node(
package="rmp220_teleop",
executable="rmp220_teleop"
)
cam_node = Node(
package="ros2_cam_openCV",
executable="cam_node"
)
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
lidar_node = LifecycleNode(
package='lslidar_driver',
executable='lslidar_driver_node',
name='lslidar_driver_node',
output='screen',
emulate_tty=True,
namespace='',
parameters=[lidar_dir],
)
return LaunchDescription([ return LaunchDescription([
control_node, control_node,
robot_state_pub_node, robot_state_pub_node,
joint_state_broadcaster_spawner, #commented out because not needed? joint_state_broadcaster_spawner,
robot_controller_spawner, robot_controller_spawner
#joystick_spawner,
#teleop_spawner,
#cam_node,
#lidar_node
]) ])

62
launch/rsp.launch.py
View File

@ -38,21 +38,6 @@ def generate_launch_description():
) )
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)} robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("bot_mini_bringup"),
"config",
"diffbot_controllers.yaml",
]
)
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
output="both",
)
robot_state_pub_node = Node( robot_state_pub_node = Node(
package="robot_state_publisher", package="robot_state_publisher",
executable="robot_state_publisher", executable="robot_state_publisher",
@ -60,51 +45,6 @@ def generate_launch_description():
parameters=[robot_description], parameters=[robot_description],
) )
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
)
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
)
joystick_spawner = Node(
package="joy",
executable="joy_node"
)
teleop_spawner = Node(
package="rmp220_teleop",
executable="rmp220_teleop"
)
cam_node = Node(
package="ros2_cam_openCV",
executable="cam_node"
)
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
lidar_node = LifecycleNode(
package='lslidar_driver',
executable='lslidar_driver_node',
name='lslidar_driver_node',
output='screen',
emulate_tty=True,
namespace='',
parameters=[lidar_dir],
)
return LaunchDescription([ return LaunchDescription([
#control_node, robot_state_pub_node
robot_state_pub_node,
#joint_state_broadcaster_spawner,
#robot_controller_spawner,
#joystick_spawner,
#teleop_spawner,
#cam_node,
#lidar_node
]) ])