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added robotinterface fix for odometry #359

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Merged
merged 1 commit into from
May 19, 2022
Merged

added robotinterface fix for odometry #359

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4 changes: 2 additions & 2 deletions R1SN003/hardware/odometry/odometry.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@
<param name="geom_r"> 0.16416 </param> <!--//m wheels radius ((320.0 / 2 / 1000.0)*1.026) -->
<param name="geom_l"> 0.338 </param> <!--//m wheels distance -->

<action phase="startup" level="20" type="attach">
<action phase="startup" level="10" type="attach">
<param name="device"> cer_mobile_base_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="10" type="detach" />
</device>
4 changes: 2 additions & 2 deletions R1SN003/wrappers/odometry/odometry_nws_ros.xml
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Expand Up @@ -7,8 +7,8 @@
<param name="base_frame"> mobile_base_body_link </param>
<param name="odom_frame"> odom </param>

<action phase="startup" level="10" type="attach">
<action phase="startup" level="15" type="attach">
<param name="device"> cer_odometry </param>
</action>
<action phase="shutdown" level="15" type="detach" />
<action phase="shutdown" level="5" type="detach" />
</device>
4 changes: 2 additions & 2 deletions R1SN003/wrappers/odometry/odometry_nws_yarp.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@
<param name="odometer_port_name"> /cer/odometer </param>
<param name="velocity_port_name"> /cer/velocity </param>

<action phase="startup" level="10" type="attach">
<action phase="startup" level="15" type="attach">
<param name="device"> cer_odometry </param>
</action>
<action phase="shutdown" level="15" type="detach" />
<action phase="shutdown" level="5" type="detach" />
</device>