ellensohn/cps_rmp220_support
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update: refactoring for namespaces

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This commit is contained in:
Björn Ellensohn 2023-08-03 12:33:43 +02:00
parent 46220ab8f4
commit b3d006af1a
1 changed files with 3 additions and 3 deletions
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6
launch/robot_joystick.launch.py
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@ -13,12 +13,12 @@ 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') joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
namespace = "/rmp"
joy_node = Node( joy_node = Node(
package='joy', package='joy',
executable='joy_node', executable='joy_node',
parameters=[joy_params, {'use_sim_time': use_sim_time}], parameters=[joy_params, {'use_sim_time': use_sim_time}],
namespace = "/rmp" namespace = namespace
) )
teleop_node = Node( teleop_node = Node(
@ -27,7 +27,7 @@ def generate_launch_description():
name='rmp220_teleop', name='rmp220_teleop',
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 = "/rmp" namespace = namespace
) )
twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml') twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')