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<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find phoebe)/urdf/phoebe.urdf.xacro" />
<node pkg="xv_11_laser_driver" type="neato_laser_publisher" name="neato_laser" output="screen">
<param name="~port" value="/dev/ttyAMA0"/>
</node>
<node name="phoebe_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node pkg="roboclaw_node" type="roboclaw_node.py" name="roboclaw_node">
<param name="~dev" value="/dev/ttyACM0"/>
<param name="~baud" value="115200"/>
<param name="~address" value="128"/>
<param name="~max_speed" value="2.0"/>
<param name="~ticks_per_meter" value="4500"/>
<param name="~base_width" value="0.24"/>
</node>
<node pkg="diagnostic_aggregator" type="aggregator_node"
name="diagnostic_aggregator">
<rosparam command="load"
file="$(find roboclaw_node)/config/roboclaw_diag.yaml"/>
</node>
</launch>