ellensohn/cps_rmp220_support
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update: changing teleop to twist_mux

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This commit is contained in:
Björn Ellensohn 2023-08-09 08:20:26 +02:00
parent c759d6baa7
commit 045c92d222
1 changed files with 18 additions and 1 deletions
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19
launch/robot_joystick.launch.py
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@ -59,6 +59,21 @@ def generate_launch_description():
remappings=[('cmd_vel', 'cmd_vel_out')],
#namespace = namespace
)
twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
twist_mux_node = Node(
package="twist_mux",
executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}],
#remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
)
rmp_teleop_node = Node(
package='rmp220_teleop',
executable='rmp220_teleop',
name='rmp220_teleop',
)
return LaunchDescription([
@ -67,5 +82,7 @@ def generate_launch_description():
default_value='false',
description='Use sim time if true'),
joy_node,
teleop_node,
#teleop_node,
rmp_teleop_node,
twist_mux_node
])