From 7066dd84f0e4326d87a9bf6054b696a7b19457f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 4 Aug 2023 12:04:04 +0200 Subject: [PATCH] update: new teleop layout --- launch/robot_joystick.launch.py | 5 +++-- launch/robot_navigation.launch.py | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py index a5ec859..8e26349 100644 --- a/launch/robot_joystick.launch.py +++ b/launch/robot_joystick.launch.py @@ -39,7 +39,8 @@ def generate_launch_description(): # namespace = namespace # ) - # Using the more 'ROS' way: + # Using the more 'ROS' way: joy node publishes at 50Hz defined in the config and joy-teleop + # node publishes the joy messages only when enable button is pressed. joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml') namespace = "/rmp" @@ -55,7 +56,7 @@ def generate_launch_description(): executable='teleop_node', name='teleop_twist_joy', parameters=[joy_params, {'use_sim_time': use_sim_time}], - remappings=[('cmd_vel', 'cmd_vel_joy')], + remappings=[('cmd_vel', 'cmd_vel_out')], namespace = namespace ) diff --git a/launch/robot_navigation.launch.py b/launch/robot_navigation.launch.py index 63384f4..7f9bf49 100644 --- a/launch/robot_navigation.launch.py +++ b/launch/robot_navigation.launch.py @@ -178,7 +178,7 @@ def generate_launch_description(): parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], remappings=remappings + - [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), + [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel_out')]), # so we get cmd_vel_smoothed as output to robot controller Node( package='nav2_lifecycle_manager', executable='lifecycle_manager',