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Update robot_joy_teleop.launch.py

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bjoernellens1 2023-11-16 13:50:04 +01:00 committed by GitHub
parent 7cab902ab2
commit f0225e21af
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1 changed files with 21 additions and 3 deletions
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launch/robot_joy_teleop.launch.py
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@ -107,14 +107,32 @@ def generate_launch_description():
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')] remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
) )
joy_node = Node(
package='joy',
executable='joy_node',
parameters=[joy_params, {'use_sim_time': use_sim_time}],
#namespace = namespace
)
teleop_node = Node(
package='teleop_twist_joy',
executable='teleop_node',
name='teleop_node',
parameters=[joy_params, {'use_sim_time': use_sim_time}],
remappings=[('cmd_vel', 'cmd_vel_joy')],
#namespace = namespace
)
return LaunchDescription([ return LaunchDescription([
#control_node, #control_node,
#robot_state_pub_node, #robot_state_pub_node,
#joint_state_broadcaster_spawner, #joint_state_broadcaster_spawner,
#robot_controller_spawner, #robot_controller_spawner,
joystick_spawner, #joystick_spawner,
teleop_spawner, #teleop_spawner,
#cam_node, #cam_node,
#lidar_node, #lidar_node,
twist_mux twist_mux,
joy_node,
teleop_node
]) ])