bringup: specify micro_ros_baudrate

Signed-off-by: Thomas Chou <thomas@wytron.com.tw>
linorobot · Apr 28, 2024 · 4c90915 · 4c90915
1 parent 2af1b97
commit 4c90915
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Showing 2 changed files with 14 additions and 1 deletion.
diff --git a/README.md b/README.md
@@ -157,6 +157,13 @@ Optional parameters:
     ```
     ros2 launch linorobot2_bringup bringup.launch.py base_serial_port:=/dev/ttyACM1
     ```
+
+- **micro_ros_baudrate** - micro-ROS serial baudrate. default 115200.
+
+    ```
+    ros2 launch linorobot2_bringup bringup.launch.py base_serial_port:=/dev/ttyUSB0 micro_ros_baudrate:=921600
+    ```
+
 - **micro_ros_transport** - micro-ROS transport. default serial.
 - **micro_ros_port** - micro-ROS udp/tcp port number. default 8888.
 

diff --git a/linorobot2_bringup/launch/default_robot.launch.py b/linorobot2_bringup/launch/default_robot.launch.py
@@ -37,6 +37,12 @@ def generate_launch_description():
             description='Linorobot Base Serial Port'
         ),
 
+        DeclareLaunchArgument(
+            name='micro_ros_baudrate', 
+            default_value='115200',
+            description='micro-ROS baudrate'
+        ),
+
         DeclareLaunchArgument(
             name='micro_ros_transport',
             default_value='serial',
@@ -55,7 +61,7 @@ def generate_launch_description():
             executable='micro_ros_agent',
             name='micro_ros_agent',
             output='screen',
-            arguments=['serial', '--dev', LaunchConfiguration("base_serial_port")]
+            arguments=['serial', '--dev', LaunchConfiguration("base_serial_port"), '--baudrate', LaunchConfiguration("micro_ros_baudrate")]
         ),
 
         Node(