ellensohn/cps_rmp220_support
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update: new teleop layout

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This commit is contained in:
Björn Ellensohn 2023-08-04 12:04:04 +02:00
parent 9550c9b22e
commit 7066dd84f0
2 changed files with 4 additions and 3 deletions
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5
launch/robot_joystick.launch.py
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@ -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
)

2
launch/robot_navigation.launch.py
View File

@ -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',