ellensohn/cps_rmp220_support
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update: new layout for teleop with middleware

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This commit is contained in:
Björn Ellensohn 2023-08-11 13:24:41 +02:00
parent 42c22cf98c
commit 6401b2a115
2 changed files with 4 additions and 4 deletions
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2
config/joystick.yaml
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@ -25,4 +25,4 @@ teleop_node:
enable_button: 2 enable_button: 2
enable_turbo_button: 5 enable_turbo_button: 5
require_enable_button: true require_enable_button: false

6
launch/robot_joystick.launch.py
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@ -56,7 +56,7 @@ def generate_launch_description():
executable='teleop_node', executable='teleop_node',
name='teleop_twist_joy', name='teleop_twist_joy',
parameters=[joy_params, {'use_sim_time': use_sim_time}], parameters=[joy_params, {'use_sim_time': use_sim_time}],
remappings=[('cmd_vel', 'cmd_vel_out')], remappings=[('cmd_vel', 'cmd_vel_joy')],
#namespace = namespace #namespace = namespace
) )
@ -81,7 +81,7 @@ def generate_launch_description():
default_value='false', default_value='false',
description='Use sim time if true'), description='Use sim time if true'),
joy_node, joy_node,
#teleop_node, teleop_node,
rmp_teleop_node, #rmp_teleop_node,
twist_mux_node twist_mux_node
]) ])