From 1e328a43377b656c409a7fbfc6a9bbe1a65ff6ed Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 21 Jan 2022 08:12:03 +0100
Subject: [PATCH] Updated the launch files with the move_base action remapping.
---
launch/node.launch | 14 +++++++-------
launch/test.launch | 11 ++++++++---
2 files changed, 15 insertions(+), 10 deletions(-)
diff --git a/launch/node.launch b/launch/node.launch
index 8da0196..83eb3d9 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -1,11 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="node_name" default="looming_modbus"/>
- <arg name="output" default="screen"/>
- <arg name="launch_prefix" default=""/>
- <arg name="config_file" default="$(find looming_modbus)/config/params.yaml"/>
- <!-- <arg name="topic_name" default="new_topic_name"/> -->
+ <arg name="node_name" default="looming_modbus"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="config_file" default="$(find looming_modbus)/config/params.yaml"/>
+ <arg name="move_base_action" default="~move_base"/>
<node name="$(arg node_name)"
pkg ="looming_modbus"
@@ -13,7 +13,7 @@
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<rosparam file="$(arg config_file)" command="load"/>
- <!--<remap from="~/topic" to="$(arg topic_name)"/>-->
+ <remap from="~/move_base" to="$(arg move_base_action)"/>
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/test.launch b/launch/test.launch
index ed842d0..26c1188 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -4,11 +4,16 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="dr" default="true"/>
+ <arg name="config_file" default="$(find looming_modbus)/config/params.yaml"/>
+ <arg name="move_base_action" default="~move_base"/>
+
<include file="$(find looming_modbus)/launch/node.launch">
- <arg name="node_name" value="looming_modbus"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="node_name" value="looming_modbus"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="config_file" value="$(arg config_file)"/>
+ <arg name="move_base_action" value="$(arg move_base_action)"/>
</include>
<!--
--
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