From 09ce745907811b1d767212d0317ceaa84b0a25e7 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Thu, 20 May 2021 13:20:17 +0000
Subject: [PATCH] Added cmd_vel_mux related config files and launch lines
---
config/mux.yaml | 26 ++++++++++++++++++++++++++
launch/bringup.launch | 10 ++++++++++
launch/test.launch | 2 ++
3 files changed, 38 insertions(+)
create mode 100644 config/mux.yaml
diff --git a/config/mux.yaml b/config/mux.yaml
new file mode 100644
index 0000000..d8df93f
--- /dev/null
+++ b/config/mux.yaml
@@ -0,0 +1,26 @@
+subscribers:
+ - name: "Default input"
+ topic: "/helena/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: "/helena/orientation/cmd_vel"
+ timeout: 0.1
+ priority: 4
+ short_desc: "Platform orientation to people"
+
+ - name: "Navigation stack"
+ topic: "/helena/navigation/cmd_vel"
+ timeout: 0.5
+ priority: 5
+ short_desc: "Navigation stack controller"
+
+ - name: "Teleop"
+ topic: "/helena/teleop/cmd_vel"
+ timeout: 0.1
+ priority: 10
+ short_desc: "Teleop wii/ps3 pad"
+
+publisher: "/helena/cmd_vel"
diff --git a/launch/bringup.launch b/launch/bringup.launch
index d85857d..5419123 100644
--- a/launch/bringup.launch
+++ b/launch/bringup.launch
@@ -16,6 +16,8 @@
<arg name="imu_calibration_file" default="$(find iri_helena_bringup)/calibration/bno055.cal" />
<arg name="imu_node_name" default="bno055_imu"/>
+ <arg name="cmd_vel_mux_config" default="$(find iri_helena_bringup)/config/mux.yaml"/>
+
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
@@ -58,4 +60,12 @@
</group>
+ <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="$(arg cmd_vel_mux_config)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
</launch>
diff --git a/launch/test.launch b/launch/test.launch
index 9c44a6d..83d8725 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -5,6 +5,7 @@
<arg name="model" default="$(arg ns)"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
+ <arg name="rviz" default="false" />
<include file="$(find iri_helena_bringup)/launch/bringup.launch">
<arg name="ns" value="$(arg ns)"/>
@@ -21,6 +22,7 @@
<node name="rviz"
pkg="rviz"
type="rviz"
+ if="$(arg rviz)"
args="-d $(find iri_helena_bringup)/rviz/$(arg ns).rviz">
</node>
--
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