From 42c22cf98c5272d7da6632e5082a6a0d3f3da9e4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Fri, 11 Aug 2023 13:19:35 +0200
Subject: [PATCH] update: new layout for teleop with middleware

---
 config/joystick.yaml            | 2 +-
 description/robot_core.xacro    | 2 +-
 launch/robot_joystick.launch.py | 2 +-
 test.urdf                       | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/config/joystick.yaml b/config/joystick.yaml
index f4536a6..7e7c500 100644
--- a/config/joystick.yaml
+++ b/config/joystick.yaml
@@ -2,7 +2,7 @@ joy_node:
   ros__parameters:
     device_id: 0
     deadzone: 0.05
-    autorepeat_rate: 50.0
+    #autorepeat_rate: 50.0
     coalesce_interval: 0.001 # merging messeges in this interval
 
 teleop_node:
diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index 14702fd..a97224e 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -229,7 +229,7 @@
     <joint name="lidar_joint" type="fixed">
         <parent link="base_link"/>
         <child link="laser_frame"/>
-        <origin xyz="${-0.08} 0 ${chassis_height + 0.030}" rpy="0 0 ${pi}"/>
+        <origin xyz="${0.070-0.155} 0 ${chassis_height + 0.030}" rpy="0 0 ${pi}"/>
     </joint>
 
 
diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index 7c16b76..0bb2776 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -65,7 +65,7 @@ def generate_launch_description():
             package="twist_mux",
             executable="twist_mux",
             parameters=[twist_mux_params, {'use_sim_time': False}],
-            #remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
+            remappings=[('/cmd_vel_out','/cmd_vel_mux')]
         )
     
     rmp_teleop_node = Node(
diff --git a/test.urdf b/test.urdf
index 71e46e0..d5f4982 100644
--- a/test.urdf
+++ b/test.urdf
@@ -185,7 +185,7 @@
   <joint name="lidar_joint" type="fixed">
     <parent link="base_link"/>
     <child link="laser_frame"/>
-    <origin rpy="0 0 3.141592653589793" xyz="-0.08 0 0.18"/>
+    <origin rpy="0 0 3.141592653589793" xyz="-0.08499999999999999 0 0.18"/>
   </joint>
   <link name="laser_frame">
     <visual>