ellensohn/cps_loki_bringup
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Update robot_joy_teleop.launch.py

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bjoernellens1 2023-11-16 13:56:18 +01:00 committed by GitHub
parent 73b0fdd034
commit e441c1aab7
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1 changed files with 3 additions and 2 deletions
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launch/robot_joy_teleop.launch.py
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@ -14,7 +14,7 @@
import os import os
from launch import LaunchDescription from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
from launch_ros.actions import Node from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
@ -23,6 +23,8 @@ from launch_ros.descriptions import ParameterValue
def generate_launch_description(): def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
robot_description_content = Command( robot_description_content = Command(
[ [
PathJoinSubstitution([FindExecutable(name="xacro")]), PathJoinSubstitution([FindExecutable(name="xacro")]),
@ -107,7 +109,6 @@ def generate_launch_description():
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')] remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
) )
use_sim_time = false
joy_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','joystick.yaml') joy_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','joystick.yaml')
joy_node = Node( joy_node = Node(
package='joy', package='joy',