ellensohn/cps_rmp220_support
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update: middleware node added

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This commit is contained in:
Björn Ellensohn 2023-08-16 08:27:06 +02:00
parent 31eb0480e5
commit 9c7381d6e7
1 changed files with 10 additions and 2 deletions
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12
launch/robot_joystick.launch.py
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@ -73,7 +73,14 @@ def generate_launch_description():
executable='rmp220_teleop',
name='rmp220_teleop',
remappings=[('cmd_vel', 'cmd_vel_joy')],
)
)
rmp_middleware_node = Node(
package='rmp220_middleware',
executable='rmp220_middleware',
name='rmp220_middleware',
#namespace = namespace
)
return LaunchDescription([
DeclareLaunchArgument(
@ -83,5 +90,6 @@ def generate_launch_description():
joy_node,
teleop_node,
#rmp_teleop_node,
twist_mux_node
twist_mux_node,
rmp_middleware_node
])