From c131dc08f30ae343fc2080f6008affbbc80df5cf Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 8 May 2018 17:51:21 +0200
Subject: [PATCH] Changed the default topic remaps. Set the intial value of
several parameters of the odometry node (initial position and calibration
filename).
---
seat_car_description/launch/spawn_car.launch | 14 ++++++++++----
1 file changed, 10 insertions(+), 4 deletions(-)
diff --git a/seat_car_description/launch/spawn_car.launch b/seat_car_description/launch/spawn_car.launch
index 1445f6f..ba5cfcb 100644
--- a/seat_car_description/launch/spawn_car.launch
+++ b/seat_car_description/launch/spawn_car.launch
@@ -34,10 +34,16 @@
type="odometry_publisher"
name="odometry_publisher"
output="screen">
- <remap from="/motor_control/twist"
- to="/model_car/twist"/>
+ <param name="file_name" value="/opt/ros/modelcar/catkin_ws/install/share/odometry/cfg/SteerAngleActuator.xml"/>
+ <param name="initial_x" value="$(arg x)"/>
+ <param name="initial_y" value="$(arg y)"/>
+ <param name="initial_yaw" value="$(arg yaw)"/>
+ <remap from="/manual_control/steering"
+ to="/steering_angle"/>
+ <remap from="/model_car/twist"
+ to="/twist"/>
<remap from="/model_car/yaw"
- to="/model_car/yaw"/>
+ to="/yaw"/>-->
</node>
<node name="imu_filter"
@@ -95,4 +101,4 @@
</group>
-</launch>
\ No newline at end of file
+</launch>
--
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