From 1609e61c69c8f1258f88822da38e887b5b54939f Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 27 Jun 2017 10:02:43 +0200
Subject: [PATCH] twist_to_manual_control: launch topics as arguments
---
cfg/TwistToManualControl.cfg | 3 --
launch/node.launch | 53 ++++++++++++++++++------------------
2 files changed, 26 insertions(+), 30 deletions(-)
diff --git a/cfg/TwistToManualControl.cfg b/cfg/TwistToManualControl.cfg
index 50e2aba..5653eda 100755
--- a/cfg/TwistToManualControl.cfg
+++ b/cfg/TwistToManualControl.cfg
@@ -54,7 +54,4 @@ gen.add("linear_sat_max", double_t, 0, "Minimum input linear speed ", 0.5, -5.0
gen.add("invert_speed", bool_t, 0, "Invert speed signum", False)
gen.add("invert_steering", bool_t, 0, "Invert steering direction", False)
-
-
-
exit(gen.generate(PACKAGE, "TwistToManualControlAlgorithm", "TwistToManualControl"))
diff --git a/launch/node.launch b/launch/node.launch
index 4c779e6..ba8fdd4 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -4,35 +4,34 @@
<arg name="node_name" default="twist_to_manual_control"/>
<arg name="invert_speed" default="True"/>
<arg name="invert_steering" default="True"/>
+ <arg name="twist_topic" default="/cmd_vel"/>
+ <arg name="steering_topic" default="/manual_control/steering"/>
+ <arg name="speed_topic" default="/manual_control/speed"/>
-<!-- <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="20"/>
- <param name="steering_zero" value="90"/>
- <param name="steering_max" value="160"/>
-
- <param name="angular_sat_min" value="-1.0"/>
- <param name="angular_sat_max" value="1.0"/>
-
- <param name="speed_min" value="-1000"/>
- <param name="speed_zero" value="0"/>
- <param name="speed_max" value="1000"/>
-
- <param name="linear_sat_min" value="-1.0"/>
- <param name="linear_sat_max" value="1.0"/>
+ <node pkg ="twist_to_manual_control"
+ type="twist_to_manual_control"
+ name="$(arg node_name)"
+ output="screen">
+ <remap from="~cmd_vel" to="$(arg twist_topic)"/>
+ <remap from="~steering" to="$(arg steering_topic)"/>
+ <remap from="~speed" to="$(arg speed_topic)"/>
- <param name="invert_speed" value="$(arg invert_speed)"/>
- <param name="invert_steering" value="$(arg invert_steering)"/>
- </node>
+ <param name="steering_min" value="30"/>
+ <param name="steering_zero" value="90"/>
+ <param name="steering_max" value="150"/>
-<!-- </group>-->
+ <param name="angular_sat_min" value="-1.0"/>
+ <param name="angular_sat_max" value="1.0"/>
+
+ <param name="speed_min" value="-1000"/>
+ <param name="speed_zero" value="0"/>
+ <param name="speed_max" value="1000"/>
+
+ <param name="linear_sat_min" value="-1.0"/>
+ <param name="linear_sat_max" value="1.0"/>
+
+ <param name="invert_speed" value="$(arg invert_speed)"/>
+ <param name="invert_steering" value="$(arg invert_steering)"/>
+ </node>
</launch>
--
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