From 5b5800b0b54b7e5dce1314b25bfbd677b3f4ffc9 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 25 Mar 2020 13:01:13 +0100
Subject: [PATCH] Changed the launch file to locate the cmd_vel_mux launch file
in the iri_rosnav package. Added the cmd_vel_mux configuration file.
---
config/mux.yaml | 26 ++++++++++++++++++++++++++
launch/sim_sample.launch | 4 ++--
2 files changed, 28 insertions(+), 2 deletions(-)
create mode 100644 config/mux.yaml
diff --git a/config/mux.yaml b/config/mux.yaml
new file mode 100644
index 0000000..f8dad3f
--- /dev/null
+++ b/config/mux.yaml
@@ -0,0 +1,26 @@
+subscribers:
+ - name: "Default input"
+ topic: "/ana/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: "/ana/orientation/cmd_vel"
+ timeout: 0.1
+ priority: 4
+ short_desc: "Platform orientation to people"
+
+ - name: "Navigation stack"
+ topic: "/ana/navigation/cmd_vel"
+ timeout: 0.5
+ priority: 5
+ short_desc: "Navigation stack controller"
+
+ - name: "Teleop"
+ topic: "/ana/teleop/cmd_vel"
+ timeout: 0.1
+ priority: 10
+ short_desc: "Teleop wii/ps3 pad"
+
+publisher: "/ana/cmd_vel"
diff --git a/launch/sim_sample.launch b/launch/sim_sample.launch
index 4843dfb..bdaf1b7 100644
--- a/launch/sim_sample.launch
+++ b/launch/sim_sample.launch
@@ -4,7 +4,7 @@
<arg name="ns" default="ana"/>
<arg name="world_name" default="empty"/>
<arg name="world_description" default="true"/>
- <arg name="cmd_vel_mux_config" default="$(find iri_ana_bringup)/config/mux.yaml"/>
+ <arg name="cmd_vel_mux_config" default="$(find iri_ana_gazebo)/config/mux.yaml"/>
<arg name="rviz" default="false"/>
<arg name="gui" default="true"/>
@@ -23,7 +23,7 @@
<arg name="yaw" value="0.0"/>
</include>
- <include file="$(find iri_ana_bringup)/launch/include/cmd_vel_mux.launch">
+ <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="nodelet_manager_name" value="mux_nodelet_manager"/>
<arg name="config" value="$(arg cmd_vel_mux_config)"/>
--
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