Commit f4d1985a authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Moved the cmd_vel mux launch and configuration files to the robot bringup packages.

parent 8941ed4d
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="config" default="$(find iri_rosnav)/param/mux.yaml"/>
<arg name="output" default="log" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node pkg ="nodelet"
type="nodelet"
name="$(arg nodelet_manager_name)"
args="manager"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)"/>
<node pkg ="nodelet"
type="nodelet"
name="cmd_vel_mux"
args="load yocs_cmd_vel_mux/CmdVelMuxNodelet $(arg nodelet_manager_name)"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<param name="yaml_cfg_file" value="$(arg config)"/>
</node>
</group>
</launch>
\ No newline at end of file
subscribers:
- name: "Default input"
topic: "/robot/default/cmd_vel"
timeout: 0.1
priority: 0
short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
- name: "Platform orientation"
topic: "/robot/orientation/cmd_vel"
timeout: 0.1
priority: 4
short_desc: "Platform orientation to people"
- name: "Navigation stack"
topic: "/robot/navigation/cmd_vel"
timeout: 0.5
priority: 5
short_desc: "Navigation stack controller"
- name: "Teleop"
topic: "/robot/teleop/cmd_vel"
timeout: 0.1
priority: 10
short_desc: "Teleop wii/ps3 pad"
#publisher: "/robot/mux/cmd_vel"
publisher: "/robot/cmd_vel"
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