36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
from launch import LaunchDescription
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import launch_ros.actions
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def generate_launch_description():
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robot_parameters = [
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{'usart_port_name': '/dev/ttyACM0',
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'serial_baud_rate': 921600,
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'serial_read_timeout_ms': 20,
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'tx_period_ms': 20,
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'cmd_watchdog_timeout_ms': 500,
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'control_period_ms': 50,
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'robot_frame_id': 'base_footprint',
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'odom_frame_id': 'odom',
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'combined_odom_topic': 'odom_combined',
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'scan_topic': '/scan',
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'wall_config_path': '/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json',
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'publish_tf': True,
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'wall_scan_stride': 2,
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'cmd_vel': 'cmd_vel',
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'akm_cmd_vel': 'none',
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'product_number': 0,
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'gyro_z_low_pass_alpha': 0.6,
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'odom_pose_cov_x': 0.01,
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'odom_pose_cov_y': 0.01,
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'odom_pose_cov_yaw': 0.0225}
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]
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return LaunchDescription([
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launch_ros.actions.Node(
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package='origincar_base',
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executable='origincar_base_node',
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parameters=robot_parameters,
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)
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])
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