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 11:23:38 +02:00
parent 2d0e4f8dd7
commit 9550c9b22e
2 changed files with 37 additions and 16 deletions
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3
config/joystick.yaml
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@ -2,7 +2,8 @@ joy_node:
ros__parameters: ros__parameters:
device_id: 0 device_id: 0
deadzone: 0.05 deadzone: 0.05
autorepeat_rate: 20.0 autorepeat_rate: 50.0
coalesce_interval: 0.001 # merging messeges in this interval
teleop_node: teleop_node:
ros__parameters: ros__parameters:

50
launch/robot_joystick.launch.py
View File

@ -12,6 +12,35 @@ from ament_index_python.packages import get_package_share_directory
def generate_launch_description(): def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time') use_sim_time = LaunchConfiguration('use_sim_time')
# joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
# namespace = "/rmp"
# joy_node = Node(
# package='joy',
# executable='joy_node',
# parameters=[joy_params, {'use_sim_time': use_sim_time}],
# namespace = namespace
# )
# teleop_node = Node(
# package='rmp220_teleop',
# executable='rmp220_teleop',
# name='rmp220_teleop',
# parameters=[joy_params, {'use_sim_time': use_sim_time}],
# remappings=[('/cmd_vel', 'cmd_vel_joy')],
# namespace = namespace
# )
# twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
# twist_mux = Node(
# package="twist_mux",
# executable="twist_mux",
# parameters=[twist_mux_params, {'use_sim_time': False}],
# #remappings=[('cmd_vel_joy','/rmp/cmd_vel_joy')],
# namespace = namespace
# )
# Using the more 'ROS' way:
joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml') joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
namespace = "/rmp" namespace = "/rmp"
joy_node = Node( joy_node = Node(
@ -20,24 +49,16 @@ def generate_launch_description():
parameters=[joy_params, {'use_sim_time': use_sim_time}], parameters=[joy_params, {'use_sim_time': use_sim_time}],
namespace = namespace namespace = namespace
) )
teleop_node = Node( teleop_node = Node(
package='rmp220_teleop', package='teleop_twist_joy',
executable='rmp220_teleop', executable='teleop_node',
name='rmp220_teleop', 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_joy')], remappings=[('cmd_vel', 'cmd_vel_joy')],
namespace = namespace namespace = namespace
) )
twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
twist_mux = Node(
package="twist_mux",
executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}],
#remappings=[('cmd_vel_joy','/rmp/cmd_vel_joy')],
namespace = namespace
)
return LaunchDescription([ return LaunchDescription([
DeclareLaunchArgument( DeclareLaunchArgument(
@ -46,5 +67,4 @@ def generate_launch_description():
description='Use sim time if true'), description='Use sim time if true'),
joy_node, joy_node,
teleop_node, teleop_node,
twist_mux
]) ])