ellensohn/cps_loki_bringup
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bjoernellens1 2023-11-20 10:49:14 +01:00 committed by GitHub
parent 8e54dc0a6e
commit f9edce1961
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14 changed files with 34 additions and 34 deletions
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4
launch/full_bot_mini.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -40,7 +40,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]

4
launch/min_bot_mini.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -40,7 +40,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]

2
launch/nav2.launch.py
View File

@ -28,7 +28,7 @@ from nav2_common.launch import RewrittenYaml
def generate_launch_description(): def generate_launch_description():
# Get the launch directory # Get the launch directory
bringup_dir = get_package_share_directory('bot_mini_bringup') bringup_dir = get_package_share_directory('cps_loki_bringup')
namespace = LaunchConfiguration('namespace') namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time') use_sim_time = LaunchConfiguration('use_sim_time')

4
launch/robot_cam.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -40,7 +40,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]

4
launch/robot_controller.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -40,7 +40,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]

8
launch/robot_joy_teleop.launch.py
View File

@ -32,7 +32,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -43,7 +43,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]
@ -102,7 +102,7 @@ def generate_launch_description():
parameters=[lidar_dir], parameters=[lidar_dir],
) )
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml') twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','twist_mux.yaml')
twist_mux = Node( twist_mux = Node(
package="twist_mux", package="twist_mux",
executable="twist_mux", executable="twist_mux",
@ -110,7 +110,7 @@ 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_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','joystick.yaml') joy_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','joystick.yaml')
joy_node = Node( joy_node = Node(
package='joy', package='joy',
executable='joy_node', executable='joy_node',

4
launch/robot_lidar.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -40,7 +40,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]

8
launch/robot_localization.launch.py
View File

@ -30,7 +30,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -41,7 +41,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]
@ -91,7 +91,7 @@ def generate_launch_description():
use_sim_time = False use_sim_time = False
slam_params_file = PathJoinSubstitution( slam_params_file = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"mapper_params_online_async.yaml" "mapper_params_online_async.yaml"
] ]
@ -125,7 +125,7 @@ def generate_launch_description():
output='screen', output='screen',
parameters = [ PathJoinSubstitution( parameters = [ PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"ekf.yaml" "ekf.yaml"
] ]

6
launch/robot_mapper.launch.py
View File

@ -30,7 +30,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -41,7 +41,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]
@ -91,7 +91,7 @@ def generate_launch_description():
use_sim_time = False use_sim_time = False
slam_params_file = PathJoinSubstitution( slam_params_file = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"mapper_params_online_async.yaml" "mapper_params_online_async.yaml"
] ]

2
launch/robot_navigation.launch.py
View File

@ -28,7 +28,7 @@ from nav2_common.launch import RewrittenYaml
def generate_launch_description(): def generate_launch_description():
# Get the launch directory # Get the launch directory
bringup_dir = get_package_share_directory('bot_mini_bringup') bringup_dir = get_package_share_directory('cps_loki_bringup')
namespace = LaunchConfiguration('namespace') namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time') use_sim_time = LaunchConfiguration('use_sim_time')

6
launch/robot_twist_mux.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -40,7 +40,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]
@ -99,7 +99,7 @@ def generate_launch_description():
parameters=[lidar_dir], parameters=[lidar_dir],
) )
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml') twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','twist_mux.yaml')
twist_mux = Node( twist_mux = Node(
package="twist_mux", package="twist_mux",
executable="twist_mux", executable="twist_mux",

2
launch/rsp.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]

10
launch/sim.launch.py
View File

@ -32,7 +32,7 @@ def generate_launch_description():
" ", " ",
PathJoinSubstitution( PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_description"), FindPackageShare("cps_loki_description"),
"urdf", "urdf",
"odrive_diffbot.urdf.xacro" "odrive_diffbot.urdf.xacro"
] ]
@ -43,7 +43,7 @@ def generate_launch_description():
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"diffbot_controllers.yaml", "diffbot_controllers.yaml",
] ]
@ -88,7 +88,7 @@ def generate_launch_description():
joystick_launch = IncludeLaunchDescription( joystick_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join( PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('bot_mini_bringup'),'joy_teleop.launch.py' get_package_share_directory('cps_loki_bringup'),'joy_teleop.launch.py'
)]), launch_arguments={'use_sim_time': 'true'}.items() )]), launch_arguments={'use_sim_time': 'true'}.items()
) )
@ -108,7 +108,7 @@ def generate_launch_description():
parameters=[lidar_dir], parameters=[lidar_dir],
) )
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml') twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','twist_mux.yaml')
twist_mux = Node( twist_mux = Node(
package="twist_mux", package="twist_mux",
executable="twist_mux", executable="twist_mux",
@ -116,7 +116,7 @@ def generate_launch_description():
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')] remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
) )
gazebo_params_file = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','gazebo_params.yaml') gazebo_params_file = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','gazebo_params.yaml')
# Include the Gazebo launch file, provided by the gazebo_ros package # Include the Gazebo launch file, provided by the gazebo_ros package
gazebo = IncludeLaunchDescription( gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join( PythonLaunchDescriptionSource([os.path.join(

4
launch/sim_bot_mini.launch.py
View File

@ -48,7 +48,7 @@ def generate_launch_description():
rviz_config_file = PathJoinSubstitution( rviz_config_file = PathJoinSubstitution(
[ [
FindPackageShare("bot_mini_bringup"), FindPackageShare("cps_loki_bringup"),
"config", "config",
"bot_mini.rviz" "bot_mini.rviz"
] ]
@ -87,7 +87,7 @@ def generate_launch_description():
arguments=["-d", rviz_config_file], arguments=["-d", rviz_config_file],
) )
package_name='bot_mini_bringup' package_name='cps_loki_bringup'
gazebo_params_file = os.path.join(get_package_share_directory(package_name),'config','gazebo_params.yaml') gazebo_params_file = os.path.join(get_package_share_directory(package_name),'config','gazebo_params.yaml')
# Include the Gazebo launch file, provided by the gazebo_ros package # Include the Gazebo launch file, provided by the gazebo_ros package