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 13:38:30 +02:00
parent 7066dd84f0
commit ce04f3c397
1 changed files with 3 additions and 3 deletions
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6
launch/robot_navigation.launch.py
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@ -28,7 +28,7 @@ from nav2_common.launch import RewrittenYaml
def generate_launch_description(): def generate_launch_description():
# Get the launch directory # Get the launch directory
bringup_dir = get_package_share_directory('cps_rmp220_support') bringup_dir = get_package_share_directory('nav2_bringup')
namespace = LaunchConfiguration('namespace') namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time') use_sim_time = LaunchConfiguration('use_sim_time')
@ -83,7 +83,7 @@ def generate_launch_description():
declare_params_file_cmd = DeclareLaunchArgument( declare_params_file_cmd = DeclareLaunchArgument(
'params_file', 'params_file',
default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'), default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use for all launched nodes') description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_autostart_cmd = DeclareLaunchArgument( declare_autostart_cmd = DeclareLaunchArgument(
@ -178,7 +178,7 @@ def generate_launch_description():
parameters=[configured_params], parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level], arguments=['--ros-args', '--log-level', log_level],
remappings=remappings + remappings=remappings +
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel_out')]), # so we get cmd_vel_smoothed as output to robot controller [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
Node( Node(
package='nav2_lifecycle_manager', package='nav2_lifecycle_manager',
executable='lifecycle_manager', executable='lifecycle_manager',