Rune Harlyk
60 lines
2.4 KiB
XML
60 lines
2.4 KiB
XML
<launch>
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<!-- Minitaur State Machine Node-->
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<node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
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<param name="frequency" value="200.0" type="double"/>
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</node>
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<!-- Joystick Node -->
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<node respawn="true" pkg="joy"
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type="joy_node" name="spot_joy" >
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<param name="dev" type="string" value="/dev/input/js0" />
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<param name="deadzone" value="0.005" />
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</node>
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<!-- Teleop Node -->
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<node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
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<param name="frequency" value="200.0" type="double"/>
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<param name="axis_linear_x" value="4" type="int"/>
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<param name="axis_linear_y" value="3" type="int"/>
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<param name="axis_linear_z" value="1" type="int"/>
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<param name="axis_angular" value="0" type="int"/>
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<param name="scale_linear" value="1.0" type="double"/>
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<param name="scale_angular" value="1.0" type="double"/>
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<param name="button_switch" value="0" type="int"/>
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<param name="button_estop" value="1" type="int"/>
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</node>
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<!-- Policy Node -->
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<arg name="agent_num" default="0" doc="Agent Number for ARS (GMBC) Policy. Default (0) Loads no Agent. Policy numbers start at 9 and increase by 10. E.G: 9...19...29..."/>
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<param name="agent_num" value="$(eval arg('agent_num'))" />
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<!-- Spot Params -->
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<rosparam command="load" file="$(find mini_ros)/config/spot_params.yaml" />
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<!-- Policy Params -->
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<rosparam command="load" file="$(find mini_ros)/config/policy_params.yaml" />
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<!-- Joystick Params -->
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<rosparam command="load" file="$(find mini_ros)/config/joy_params.yaml" />
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<!-- the above is equivalent to $(eval agent_num) but I left it in to acknowledge that both options exist -->
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<node name="spot_real" pkg="mini_ros" type="spot_real_interface" output="screen"/>
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<!-- Sensor Interface Node -->
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<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
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<param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
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<param name="baud" value="500000"/> <!-- must match Teensy -->
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</node>
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<!-- NOTE:
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Setting Up Joystick:
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- Get Number (you will see something like jsX): ls /dev/input/
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- Make available to ROS: sudo chmod a+rw /dev/input/jsX
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- Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
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You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
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It just means your controller is missing some functionality, but this package doesn't use it.
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-->
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</launch> |