mirror of
https://github.com/bjoernellens1/rmp220_teleop.git
synced 2024-11-24 16:55:06 +00:00
81 lines
2.4 KiB
Python
81 lines
2.4 KiB
Python
from launch import LaunchDescription
|
|
from launch_ros.actions import Node
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch.actions import DeclareLaunchArgument
|
|
|
|
# def generate_launch_description():
|
|
# return LaunchDescription([
|
|
# Node(
|
|
# package='segwayrmp',
|
|
# #namespace='turtlesim1',
|
|
# executable='SmartCar',
|
|
# name='SmartCar',
|
|
# output='screen'
|
|
# ),
|
|
# Node(
|
|
# package='joy',
|
|
# #namespace='turtlesim2',
|
|
# executable='joy_node',
|
|
# name='joy_teleop',
|
|
# output='screen'
|
|
|
|
# ),
|
|
# Node(
|
|
# package='rmp220_teleop',
|
|
# executable='rmp220_teleop',
|
|
# name='rmp220_teleop',
|
|
# # remappings=[
|
|
# # ('/input/pose', '/turtlesim1/turtle1/pose'),
|
|
# # ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
|
|
# # ]
|
|
# output='screen'
|
|
|
|
# )
|
|
# ])
|
|
|
|
def generate_launch_description():
|
|
use_sim_time = LaunchConfiguration('use_sim_time')
|
|
|
|
#joy_params = os.path.join(get_package_share_directory('rmp220_teleop'))
|
|
|
|
joy_node = Node(
|
|
package='joy',
|
|
executable='joy_node',
|
|
#parameters=[joy_params, {'use_sim_time': use_sim_time}],
|
|
)
|
|
|
|
teleop_node = Node(
|
|
package='rmp220_teleop',
|
|
executable='rmp220_teleop',
|
|
name='rmp220_teleop',
|
|
#parameters=[joy_params, {'use_sim_time': use_sim_time}],
|
|
#remappings=[('/cmd_vel','/cmd_vel_joy')]
|
|
)
|
|
|
|
control_node = Node(
|
|
package='segwayrmp',
|
|
executable='SmartCar',
|
|
name='SmartCar',
|
|
#parameters=[joy_params, {'use_sim_time': use_sim_time}],
|
|
#remappings=[('/cmd_vel','/cmd_vel_joy')]
|
|
)
|
|
|
|
# twist_stamper = Node(
|
|
# package='twist_stamper',
|
|
# executable='twist_stamper',
|
|
# parameters=[{'use_sim_time': use_sim_time}],
|
|
# remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
|
|
# ('/cmd_vel_out','/diff_cont/cmd_vel')]
|
|
# )
|
|
|
|
|
|
return LaunchDescription([
|
|
DeclareLaunchArgument(
|
|
'use_sim_time',
|
|
default_value='false',
|
|
description='Use sim time if true'),
|
|
joy_node,
|
|
teleop_node,
|
|
control_node,
|
|
# twist_stamper
|
|
]) |