From 849d891595429c14d8ef8daba49c1d33737e3d5e Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 10 May 2018 15:35:46 +0200
Subject: [PATCH] Updated remaps and invert speed/steering to match last car
version (3.1)
---
launch/node.launch | 14 +++++++-------
launch/teleop_keyboard.launch | 8 ++++----
launch/teleop_ps3.launch | 8 ++++----
3 files changed, 15 insertions(+), 15 deletions(-)
diff --git a/launch/node.launch b/launch/node.launch
index 76b5fec..4d7f819 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -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"/>
diff --git a/launch/teleop_keyboard.launch b/launch/teleop_keyboard.launch
index 89dbeae..72ce258 100644
--- a/launch/teleop_keyboard.launch
+++ b/launch/teleop_keyboard.launch
@@ -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="$(arg speed_topic)"/>
diff --git a/launch/teleop_ps3.launch b/launch/teleop_ps3.launch
index ed23f98..1e38641 100644
--- a/launch/teleop_ps3.launch
+++ b/launch/teleop_ps3.launch
@@ -4,8 +4,8 @@
<arg name="name" default="teleop_ps3"/>
<arg name="dev" default="/dev/input/ps3joy"/>
<arg name="config_filepath" default="$(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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