From 03f00fcd1366751e0e90c17190586e85434e4d8e Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 1 Jun 2017 12:33:58 +0200
Subject: [PATCH] twist_to_manual_control: added launch file

---
 launch/node.launch | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 launch/node.launch

diff --git a/launch/node.launch b/launch/node.launch
new file mode 100644
index 0000000..ec25296
--- /dev/null
+++ b/launch/node.launch
@@ -0,0 +1,31 @@
+<!-- -->
+<launch>
+  
+  <arg name="node_name"             default="twist_to_manual_control"/>
+
+<!--  <group ns="$(optenv ROBOT car)">-->
+
+    <node pkg ="twist_to_manual_control"
+          type="twist_to_manual_control"
+          name="$(arg node_name)"
+          output="screen">
+      <remap from="~cmd_vel"  to="/cmd_vel"/>
+      <remap from="~steering" to="/manual_control/steering"/>
+      <remap from="~speed"    to="/manual_control/speed"/>
+      
+      <param name="steering_min" value="45"/>
+      <param name="steering_max" value="135"/>
+
+      <param name="angular_sat_min" value="-0.5"/>
+      <param name="angular_sat_max" value="0.5"/>
+      
+      <param name="speed_min" value="-500"/>
+      <param name="speed_max" value="500"/>
+      
+      <param name="linear_sat_min" value="-0.5"/>
+      <param name="linear_sat_max" value="0.5"/>
+    </node>
+
+<!--  </group>-->
+
+</launch>
-- 
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