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33 lines
1.6 KiB
33 lines
1.6 KiB
<launch>
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<arg name="teleop_type" default="keyboard" doc="how to teleop ('keyboard', 'joystick', or 'none')" />
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<arg name="linear" default="0.04" doc="linear speed (m/s)" />
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<arg name="angular" default="0.1" doc="angular speed (rad/s)" />
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<arg name="twist_topic" default="/stretch/cmd_vel" doc="topic to command Twist messages" />
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<arg name="joystick_port" default="/dev/input/js0" doc="joystick USB device name" />
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<!-- KEYBOARD TELEOP -->
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<group if="$(eval teleop_type == 'keyboard')">
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<node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen" >
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<param name="speed" type="double" value="$(arg linear)" />
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<param name="turn" type="double" value="$(arg angular)" />
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<remap from="/cmd_vel" to="$(arg twist_topic)" />
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</node>
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</group>
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<!-- JOYSTICK TELEOP -->
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<group if="$(eval teleop_type == 'joystick')">
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<node name="joy" pkg="joy" type="joy_node" output="screen">
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<param name="dev" value="$(arg joystick_port)" />
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<param name="autorepeat_rate" value="20" />
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<param name="deadzone" value="0.05" />
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</node>
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<node name="teleop_twist_joy" pkg="teleop_twist_joy" type="teleop_node">
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<param name="enable_button" type="int" value="-1" /> <!-- value="0" to enable deadman button -->
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<param name="scale_linear" type="double" value="$(arg linear)" />
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<param name="scale_angular" type="double" value="$(arg angular)" />
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<remap from="/cmd_vel" to="$(arg twist_topic)" />
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</node>
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</group>
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</launch>
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