From 49a750f585a5ce71e475a8f9174a6ab6525d8446 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Wed, 10 Mar 2021 09:51:42 +0100
Subject: [PATCH] Added rqt teleop launch file and related config files

---
 config/adc_common/teleop_config.yaml |  5 +++++
 launch/adc_teleop_rqt.launch         | 18 ++++++++++++++++++
 2 files changed, 23 insertions(+)
 create mode 100644 config/adc_common/teleop_config.yaml
 create mode 100644 launch/adc_teleop_rqt.launch

diff --git a/config/adc_common/teleop_config.yaml b/config/adc_common/teleop_config.yaml
new file mode 100644
index 0000000..c4e1139
--- /dev/null
+++ b/config/adc_common/teleop_config.yaml
@@ -0,0 +1,5 @@
+default_vx_max:  0.8
+default_vx_min: -0.8
+default_vw_max:  0.5
+default_vw_min: -0.5
+
diff --git a/launch/adc_teleop_rqt.launch b/launch/adc_teleop_rqt.launch
new file mode 100644
index 0000000..a08e720
--- /dev/null
+++ b/launch/adc_teleop_rqt.launch
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  
+  <arg name="name"          default="adc_car"/>
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="cmd_vel_topic" default="/$(arg name)/teleop/cmd_vel"/>
+  <arg name="config_file"   default="$(find iri_adc_launch)/config/adc_common/teleop_config.yaml"/>
+
+  <include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
+    <arg name="ns"               value="$(arg name)"/>
+    <arg name="output"           value="$(arg output)"/>
+    <arg name="launch_prefix"    value="$(arg launch_prefix)"/>
+    <arg name="twist_topic"      value="$(arg cmd_vel_topic)"/>
+    <arg name="config_file"      value="$(arg config_file)" />
+  </include>
+  
+</launch>
-- 
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