Added config and launch files for raw-mini #752
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| <launch> | |||
| <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen"> | |||
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this is a new dependency to rplidar_ros. We should add this to the package.xml and CMakeLists.txt. A requirement for new dependencies is that they have to be released for indigo and kinetic. If not, we cannot add this node to cob_bringup.
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rplidar_ros is already present in the package.xml file and is available for both indigo and kinetic.
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oh sorry, didn't see that.
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| ## joint_names | |||
| joint_names: [fr_caster_rotation_joint, fl_caster_rotation_joint, br_caster_rotation_joint, bl_caster_rotation_joint, fr_caster_r_wheel_joint, fl_caster_r_wheel_joint, br_caster_r_wheel_joint, bl_caster_r_wheel_joint] | |||
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this seems like a leftover from raw --> the whole file can be removed until we transition to ros-control
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="config_file" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/> | ||
| <arg name="raw_cmd_vel_topic" default="velocity_smoother/command"/> | ||
| <arg name="smooth_cmd_vel_topic" default="twist_controller/command"/> |
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indentation is inconsistent (here tabs, spaces in other files). unify to spaces since they are already in the majority of the files
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I'm sorry to say, but in contrary to #752 (comment) all launch files in |
| <param name="serial_baudrate" type="int" value="115200"/> | ||
| <param name="frame_id" type="string" value="laser_link"/> | ||
| <param name="inverted" type="bool" value="false"/> | ||
| <param name="angle_compensate" type="bool" value="true"/> |
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please add one level of indentation for the param lines...they are under node
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| <launch> | |||
| <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen"> | |||
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- is the sensor really called
rplidar_mini? or does theminicome from theraw_mini? please name the launch file according to the sensor model name - this
nameis not really conform with ROS-convention...userplidar_driverinstead? - also me mainly use the following order
pkg,type,namehere
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after fixing the comments above, simulation needs to be tested, too therefore, the comments in https://github.com/ipa320/cob_common/pull/250 need to be considered finally, the PRs should be merged "bottom-up", i.e. merge ipa320/cob_supported_robots#17 and https://github.com/ipa320/cob_common/pull/250, re-trigger travis for this PR, fix if needed until all tests pass, then merge... |
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you might also want to consider a simpler naming scheme - as I hear you are planning more than one raw mini...use maybe raw-m1, raw-m2,...for example or are you planning to only have one config for all of them...than you cannot modify anything on just one raw mini |
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superseded by #798 |
related to ipa320/cob_common#250