ellensohn/cps_rmp220_support
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commented out namespace --> test with domain id

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This commit is contained in:
Björn Ellensohn 2023-08-08 11:01:49 +02:00
parent 8cbab2bf7f
commit c759d6baa7
6 changed files with 7 additions and 7 deletions
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2
launch/robot_controller.launch.py
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@ -11,7 +11,7 @@ def generate_launch_description():
executable='SmartCar', executable='SmartCar',
name='SmartCar', name='SmartCar',
remappings=[('cmd_vel','cmd_vel_out'), ('/odom','odom'), ('/imu','imu'), ('/bms_fb','bms_fb'), ('/joint_states','joint_states'), ('/tf','tf'), ('/tf_static','tf_static')], remappings=[('cmd_vel','cmd_vel_out'), ('/odom','odom'), ('/imu','imu'), ('/bms_fb','bms_fb'), ('/joint_states','joint_states'), ('/tf','tf'), ('/tf_static','tf_static')],
namespace = "/rmp" #namespace = "/rmp"
) )

4
launch/robot_joystick.launch.py
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@ -48,7 +48,7 @@ def generate_launch_description():
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 = namespace #namespace = namespace
) )
teleop_node = Node( teleop_node = Node(
@ -57,7 +57,7 @@ def generate_launch_description():
name='teleop_twist_joy', 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_out')], remappings=[('cmd_vel', 'cmd_vel_out')],
namespace = namespace #namespace = namespace
) )

2
launch/robot_lidar.launch.py
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@ -66,6 +66,6 @@ def generate_launch_description():
'inverted': inverted, 'inverted': inverted,
'angle_compensate': angle_compensate 'angle_compensate': angle_compensate
}], }],
namespace = "/rmp" #namespace = "/rmp"
) )
]) ])

2
launch/robot_mapping.launch.py
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@ -56,7 +56,7 @@ def generate_launch_description():
slam_params_file, slam_params_file,
{'use_sim_time': use_sim_time} {'use_sim_time': use_sim_time}
], ],
namespace = namespace, #namespace = namespace,
remappings=[('/scan', 'scan'), ('/map', 'map')], remappings=[('/scan', 'scan'), ('/map', 'map')],
) )

2
launch/robot_navigation.launch.py
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@ -73,7 +73,7 @@ def generate_launch_description():
declare_namespace_cmd = DeclareLaunchArgument( declare_namespace_cmd = DeclareLaunchArgument(
'namespace', 'namespace',
default_value='r', default_value='',
description='Top-level namespace') description='Top-level namespace')
declare_use_sim_time_cmd = DeclareLaunchArgument( declare_use_sim_time_cmd = DeclareLaunchArgument(

2
launch/rsp.launch.py
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@ -28,7 +28,7 @@ def generate_launch_description():
executable='robot_state_publisher', executable='robot_state_publisher',
output='screen', output='screen',
parameters=[params], parameters=[params],
namespace=namespace #namespace=namespace
) )