ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-08-03 17:10:21 +02:00
parent e8a7113193
commit 563f24fad8
2 changed files with 4 additions and 4 deletions
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6
config/twist_mux.yaml
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@ -2,14 +2,14 @@ twist_mux:
ros__parameters: ros__parameters:
topics: topics:
navigation: navigation:
topic : /rmp/cmd_vel topic : cmd_vel
timeout : 0.5 timeout : 0.5
priority: 10 priority: 10
tracker: tracker:
topic : /rmp/cmd_vel_tracker topic : cmd_vel_tracker
timeout : 0.5 timeout : 0.5
priority: 20 priority: 20
joystick: joystick:
topic : "/rmp/cmd_vel_joy" topic : cmd_vel_joy
timeout : 0.5 timeout : 0.5
priority: 100 priority: 100

2
launch/robot_joystick.launch.py
View File

@ -35,7 +35,7 @@ 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_joy','cmd_vel_joy')], remappings=[('cmd_vel_joy','/rmp/cmd_vel_joy')],
namespace = namespace namespace = namespace
) )