Feature/raw4 #778
Feature/raw4 #778
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jabbenseth
commented
Jun 3, 2019
jabbenseth
commented
- fixes #
- new source code files added (proper APACHE license header must be used)
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supersedes #777?
see #777 (review)
will further review once it's funal
not at all
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could be checked/guaranteed by adding a temporary commit with the required feature branches/remotes in the |
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@ipa-jba do the same with |
| <arg name="sim" default="false"/> | ||
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| <arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/raw4/config/raw4_base_driver.yaml"/> | ||
| <arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/raw4/config/raw4_base_controller.yaml"/> |
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are those files different for raw3 vs. raw4?
if not: stick with one single raw_base.launch
| <remap from="scan" to="scan_raw"/> | ||
| <!-- <remap from="extended_laser_scan" to="laser_$(arg name)/extended_laser_scan"/> | ||
| <remap from="output_paths" to="laser_$(arg name)/output_paths"/> | ||
| <remap from="raw_data" to="laser_$(arg name)/raw_data" /> --> |
cob_bringup/robots/raw4-0.launch
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| <arg name="env-script" default="$(find cob_bringup)/env.sh"/> | ||
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| <include file="$(find cob_bringup)/robots/raw4-0.xml"> | ||
| <!--arg name="pc1" value="i60sr2"/--> <!-- todo --> |
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| <include file="$(find cob_bringup)/tools/teleop_common.xml" pass_all_args="true"/> | ||
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| <node ns="teleop" pkg="teleop_twist_joy" type="teleop_node" name="$(anon teleop_node)" cwd="node" respawn="false" output="screen"> |
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it replaces cob_teleop since the cob version imply a load of dependencies not available on melodic (cob_script_server which relies on cob_light...)
since raw4 are melodic robots we use the ros provided, released teleop node
| ##Wheel 3 | ||
| br_caster_rotation_joint: | ||
| motor_layer: | ||
| homing_event: 17 # -> digin |
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why does this wheel have a different homing_event?
| motor_layer: | ||
| homing_event: 19 # -> digin | ||
| homing_speed: -5093 # -1.0 rs/s | ||
| homing_offset: 0 |
| @@ -0,0 +1,33 @@ | |||
| # !!! copy pasted, needs to be adjusted !!! | |||
| @@ -0,0 +1,33 @@ | |||
| # !!! copy pasted, needs to be adjusted !!! | |||
| @@ -0,0 +1 @@ | |||
| ../../raw4/config/pc_monitor_raw4-pc1.yaml | |||
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you could use symlinks to raw4/config for a lot more raw4-0/config files!
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superseded by #798 |
