Commit 2ab55da6 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Ranmed some topics to adc_car

parent b520ec9f
...@@ -10,18 +10,18 @@ control_config: [true, false, false, false, false, true] ...@@ -10,18 +10,18 @@ control_config: [true, false, false, false, false, true]
publish_tf: true publish_tf: true
map_frame: map map_frame: map
odom_frame: model_car/odom odom_frame: adc_car/odom
base_link_frame: model_car/base_footprint base_link_frame: adc_car/base_footprint
world_frame: model_car/odom world_frame: adc_car/odom
odom0: /model_car/odom odom0: /adc_car/odom
odom0_config: [false, false, false, odom0_config: [false, false, false,
false, false, false, false, false, false,
true, false, false, true, false, false,
false, false, true, false, false, true,
false, false, false] false, false, false]
imu0: /model_car/sensors/imu_data imu0: /adc_car/sensors/imu_data
imu0_config: [false, false, false, imu0_config: [false, false, false,
false, false, true, false, false, true,
false, false, false, false, false, false,
......
subscribers: subscribers:
- name: "Default input" - name: "Default input"
topic: "/model_car/default/cmd_vel" topic: "/adc_car/default/cmd_vel"
timeout: 0.1 timeout: 0.1
priority: 0 priority: 0
short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here" short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
- name: "Navigation stack" - name: "Navigation stack"
topic: "/model_car/navigation/cmd_vel" topic: "/adc_car/navigation/cmd_vel"
timeout: 0.5 timeout: 0.5
priority: 5 priority: 5
short_desc: "Navigation stack controller" short_desc: "Navigation stack controller"
- name: "Teleop" - name: "Teleop"
topic: "/model_car/teleop/cmd_vel" topic: "/adc_car/teleop/cmd_vel"
timeout: 0.1 timeout: 0.1
priority: 10 priority: 10
short_desc: "Teleoperation" short_desc: "Teleoperation"
publisher: "/model_car/cmd_vel" publisher: "/adc_car/cmd_vel"
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment