launchfiles/odom_only.launch at master · dudasdavid/launchfiles · GitHub

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<?xml version="1.0"?>

<launch>

    <node pkg="tf" type="static_transform_publisher" name="laser" args="-0.005 0.005 0.18 0 0 0 base_link laser 50" />


    <arg name="ticks_per_meter" value="1800" />
    <arg name="wheel_separation" value="0.11" />

    <node name="controller" pkg="diff_drive" type="diff_drive_controller"
          output="screen">
      <rosparam subst_value="true">
        ticks_per_meter: $(arg ticks_per_meter)
        wheel_separation: $(arg wheel_separation)
        max_motor_speed: 3000
        timeout: 1.0
      </rosparam>
    </node>

    <node name="odom_publisher" pkg="diff_drive" type="diff_drive_odometry"
          output="screen">
      <rosparam subst_value="true">
        ticks_per_meter: $(arg ticks_per_meter)
        wheel_separation: $(arg wheel_separation)
      </rosparam>
    </node>

      <node name="revvy_teleop" pkg="revvy_teleop_ros" type="key_teleop.py" output="screen">
  </node>


  <node name="rviz" pkg="rviz" type="rviz" />


</launch>