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https://github.com/6-robot/wpb_home.git
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23 lines
828 B
XML
23 lines
828 B
XML
<launch>
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<master auto="start"/>
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<!-- rviz -->
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<arg name="gui" default="true" />
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<param name="use_gui" value="$(arg gui)"/>
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<arg name="rvizconfig" default="$(find wpb_home_remote)/rviz/slam.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!-- joy node -->
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<node respawn="true" pkg="joy" type="joy_node" name="wpb_home_joy" >
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<param name="dev" type="string" value="/dev/input/js0" />
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<param name="deadzone" value="0.12" />
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</node>
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<!-- Axes Velcmd -->
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<param name="axis_linear" value="1" type="int"/>
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<param name="axis_angular" value="0" type="int"/>
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<param name="scale_linear" value="1" type="double"/>
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<param name="scale_angular" value="1" type="double"/>
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<node pkg="wpb_home_bringup" type="wpb_home_js_vel" name="teleop"/>
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</launch> |