diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py index ffc63a4..d7530f6 100644 --- a/launch/robot_joystick.launch.py +++ b/launch/robot_joystick.launch.py @@ -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 ]) \ No newline at end of file