mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2025-01-18 15:46:59 +00:00
31 lines
1.1 KiB
XML
31 lines
1.1 KiB
XML
<launch>
|
|
<arg name="joy_vel_in" default="input_joy/cmd_vel"/>
|
|
<arg name="joy_vel_out" default="joy_vel"/>
|
|
|
|
<arg name="cmd_vel_out" default="twist_mux/cmd_vel"/>
|
|
|
|
<arg name="config_locks" default="$(find twist_mux)/config/twist_mux_locks.yaml"/>
|
|
<arg name="config_topics" default="$(find cps_rmp220_Support)/config/twist_mux_topics.yaml"/>
|
|
|
|
<arg name="config_joy" default="$(find twist_mux)/config/joystick.yaml"/>
|
|
|
|
<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
|
|
<remap from="cmd_vel_out" to="$(arg cmd_vel_out)"/>
|
|
|
|
<rosparam file="$(arg config_locks)" command="load"/>
|
|
<rosparam file="$(arg config_topics)" command="load"/>
|
|
</node>
|
|
|
|
<node pkg="twist_mux" type="twist_marker" name="twist_marker">
|
|
<remap from="twist" to="$(arg cmd_vel_out)"/>
|
|
<remap from="marker" to="twist_marker"/>
|
|
</node>
|
|
|
|
<node pkg="twist_mux" type="joystick_relay.py" name="joystick_relay" output="screen">
|
|
<remap from="joy_vel_in" to="$(arg joy_vel_in)"/>
|
|
<remap from="joy_vel_out" to="$(arg joy_vel_out)"/>
|
|
|
|
<rosparam file="$(arg config_joy)" command="load"/>
|
|
</node>
|
|
</launch>
|