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Commit 849d8915 authored by Fernando Herrero's avatar Fernando Herrero
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Updated remaps and invert speed/steering to match last car version (3.1)

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launch/node.launch
+ 7
− 7
View file @ 849d8915
......@@ -2,11 +2,11 @@
<launch>
<arg name="node_name" default="twist_to_manual_control"/>
<arg name="invert_speed" default="True"/>
<arg name="invert_steering" default="False"/>
<arg name="invert_speed" default="False"/>
<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"/>
<arg name="steering_topic" default="/steering"/>
<arg name="speed_topic" default="/speed"/>
<node pkg ="iri_twist_to_manual_control"
type="iri_twist_to_manual_control"
......@@ -16,9 +16,9 @@
<remap from="~steering" to="$(arg steering_topic)"/>
<remap from="~speed" to="$(arg speed_topic)"/>
<param name="steering_min" value="50"/>
<param name="steering_zero" value="80"/>
<param name="steering_max" value="110"/>
<param name="steering_min" value="0"/>
<param name="steering_zero" value="90"/>
<param name="steering_max" value="180"/>
<param name="angular_sat_min" value="-1.0"/>
<param name="angular_sat_max" value="1.0"/>
......
launch/teleop_keyboard.launch
+ 4
− 4
View file @ 849d8915
......@@ -2,8 +2,8 @@
<launch>
<arg name="name" default="teleop_keyboard"/>
<arg name="speed_topic" default="/manual_control/speed"/>
<arg name="steering_topic" default="/manual_control/steering"/>
<arg name="speed_topic" default="/speed"/>
<arg name="steering_topic" default="/steering"/>
<node pkg ="teleop_twist_keyboard"
name="teleop_twist_keyboard"
......@@ -14,8 +14,8 @@
<include file="$(find iri_twist_to_manual_control)/launch/node.launch">
<arg name="node_name" value="$(arg name)_twist_to_manual_control"/>
<arg name="invert_speed" value="True"/>
<arg name="invert_steering" value="False"/>
<arg name="invert_speed" value="False"/>
<arg name="invert_steering" value="True"/>
<arg name="twist_topic" default="$(arg name)/cmd_vel"/>
<arg name="steering_topic" value="$(arg steering_topic)"/>
<arg name="speed_topic" value="$(arg speed_topic)"/>
......
launch/teleop_ps3.launch
+ 4
− 4
View file @ 849d8915
......@@ -4,8 +4,8 @@
<arg name="name" default="teleop_ps3"/>
<arg name="dev" default="/dev/input/ps3joy"/>
<arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" />
<arg name="speed_topic" default="/manual_control/speed"/>
<arg name="steering_topic" default="/manual_control/steering"/>
<arg name="speed_topic" default="/speed"/>
<arg name="steering_topic" default="/steering"/>
<node pkg="joy" type="joy_node" name="joy_node">
<param name="dev" value="$(arg dev)" />
......@@ -20,8 +20,8 @@
<include file="$(find iri_twist_to_manual_control)/launch/node.launch">
<arg name="node_name" value="$(arg name)_twist_to_manual_control"/>
<arg name="invert_speed" value="True"/>
<arg name="invert_steering" value="False"/>
<arg name="invert_speed" value="False"/>
<arg name="invert_steering" value="True"/>
<arg name="twist_topic" default="$(arg name)/cmd_vel"/>
<arg name="steering_topic" value="$(arg steering_topic)"/>
<arg name="speed_topic" value="$(arg speed_topic)"/>
......
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