From 960affb62429b46c9ea61ba2717b509b15e7857c Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 10 May 2018 20:28:00 +0200
Subject: [PATCH] Remapped speed to manual_control/speed
---
launch/node.launch | 2 +-
launch/teleop_keyboard.launch | 8 ++++++--
launch/teleop_ps3.launch | 4 ++--
3 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/launch/node.launch b/launch/node.launch
index 4d7f819..efcc124 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -6,7 +6,7 @@
<arg name="invert_steering" default="True"/>
<arg name="twist_topic" default="/cmd_vel"/>
<arg name="steering_topic" default="/steering"/>
- <arg name="speed_topic" default="/speed"/>
+ <arg name="speed_topic" default="/manual_control/speed"/>
<node pkg ="iri_twist_to_manual_control"
type="iri_twist_to_manual_control"
diff --git a/launch/teleop_keyboard.launch b/launch/teleop_keyboard.launch
index 72ce258..b60f053 100644
--- a/launch/teleop_keyboard.launch
+++ b/launch/teleop_keyboard.launch
@@ -2,7 +2,7 @@
<launch>
<arg name="name" default="teleop_keyboard"/>
- <arg name="speed_topic" default="/speed"/>
+ <arg name="speed_topic" default="/manual_control/speed"/>
<arg name="steering_topic" default="/steering"/>
<node pkg ="teleop_twist_keyboard"
@@ -10,13 +10,17 @@
type="teleop_twist_keyboard.py"
output="screen">
<remap from="cmd_vel" to="$(arg name)/cmd_vel"/>
+ <!--
+ <param name="~speed" value="0.25"/>
+ <param name="~turn" value="0.5"/>
+ -->
</node>
<include file="$(find iri_twist_to_manual_control)/launch/node.launch">
<arg name="node_name" value="$(arg name)_twist_to_manual_control"/>
<arg name="invert_speed" value="False"/>
<arg name="invert_steering" value="True"/>
- <arg name="twist_topic" default="$(arg name)/cmd_vel"/>
+ <arg name="twist_topic" value="$(arg name)/cmd_vel"/>
<arg name="steering_topic" value="$(arg steering_topic)"/>
<arg name="speed_topic" value="$(arg speed_topic)"/>
</include>
diff --git a/launch/teleop_ps3.launch b/launch/teleop_ps3.launch
index 1e38641..1944194 100644
--- a/launch/teleop_ps3.launch
+++ b/launch/teleop_ps3.launch
@@ -4,7 +4,7 @@
<arg name="name" default="teleop_ps3"/>
<arg name="dev" default="/dev/input/ps3joy"/>
<arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" />
- <arg name="speed_topic" default="/speed"/>
+ <arg name="speed_topic" default="/manual_control/speed"/>
<arg name="steering_topic" default="/steering"/>
<node pkg="joy" type="joy_node" name="joy_node">
@@ -22,7 +22,7 @@
<arg name="node_name" value="$(arg name)_twist_to_manual_control"/>
<arg name="invert_speed" value="False"/>
<arg name="invert_steering" value="True"/>
- <arg name="twist_topic" default="$(arg name)/cmd_vel"/>
+ <arg name="twist_topic" value="$(arg name)/cmd_vel"/>
<arg name="steering_topic" value="$(arg steering_topic)"/>
<arg name="speed_topic" value="$(arg speed_topic)"/>
</include>
--
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