launchfiles/revvy-jetson-diffdrive.launch at master · dudasdavid/launchfiles · GitHub

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<?xml version="1.0"?>
<launch>

  <arg name="ticks_per_meter" value="1800" />
  <arg name="wheel_separation" value="0.11" />
  <arg name="wheel_separation_length" value="0.13" />

  <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)
      wheel_separation_length: $(arg wheel_separation_length)
      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)
        wheel_separation_length: $(arg wheel_separation_length)
        base_frame_id: "base_footprint"
      </rosparam>
  </node>

  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
    <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
    <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
    <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
    <param name="frame_id"            type="string" value="laser"/>
    <param name="inverted"            type="bool"   value="false"/>
    <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

  <node name="revvyNode" pkg="revvyframework_ros" type="revvy.py" output="screen">
  </node>


</launch>