ellensohn/cps_rmp220_support
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update: new layout for teleop with middleware

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Björn Ellensohn 2023-08-11 13:19:35 +02:00
parent 8e980c2648
commit 42c22cf98c
4 changed files with 4 additions and 4 deletions
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2
config/joystick.yaml
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@ -2,7 +2,7 @@ joy_node:
ros__parameters: ros__parameters:
device_id: 0 device_id: 0
deadzone: 0.05 deadzone: 0.05
autorepeat_rate: 50.0 #autorepeat_rate: 50.0
coalesce_interval: 0.001 # merging messeges in this interval coalesce_interval: 0.001 # merging messeges in this interval
teleop_node: teleop_node:

2
description/robot_core.xacro
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@ -229,7 +229,7 @@
<joint name="lidar_joint" type="fixed"> <joint name="lidar_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="laser_frame"/> <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> </joint>

2
launch/robot_joystick.launch.py
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@ -65,7 +65,7 @@ def generate_launch_description():
package="twist_mux", package="twist_mux",
executable="twist_mux", executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}], 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( rmp_teleop_node = Node(

2
test.urdf
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@ -185,7 +185,7 @@
<joint name="lidar_joint" type="fixed"> <joint name="lidar_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="laser_frame"/> <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> </joint>
<link name="laser_frame"> <link name="laser_frame">
<visual> <visual>