fzirker/wlan_pioneer
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modified launch file

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This commit is contained in:
Florian Zirker 2018-12-03 18:44:09 +01:00
parent 90ce72e181
commit c7f0cd55a7
1 changed files with 30 additions and 8 deletions
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38
launch/pioneerMasterLaunchFile.launch
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@ -1,14 +1,25 @@
<launch> <launch>
<!-- Defining the arguments --> <!-- Defining the arguments -->
<arg name="HokuyoLaser" value="0"/> <arg name="HokuyoLaser" value="0" />
<arg name="SICKLMSLaser" value="1"/> <arg name="SICKLMSLaser" value="1" />
<arg name="P2OS_Driver" value="1"/> <arg name="P2OS_Driver" value="1" />
<arg name="KeyboardTeleop" value="0"/> <arg name="KeyboardTeleop" value="0" />
<arg name="JoystickTeleop" value="1"/> <arg name="JoystickTeleop" value="1" />
<arg name="Transform" value="1"/> <arg name="Transform" value="1" />
<arg name="Dashboard" value="0"/> <arg name="Dashboard" value="0" />
<arg name="enableMotor" value="1"/> <arg name="enableMotor" value="1" />
<arg name="enableWlanScan" value="1" />
<arg name="enableGmapping" value="1" />
<arg name="enableBagging" value="1" />
<!-- Set wifi interface and start wlan logging -->
<group if="$(arg enableWlanScan)" >
<param name="wlan_interface_24G" type="string" value="wlx801f02c608aa" />
<param name="wlan_interface_5G" type="string" value="wlx801f02c608aa" />
<node pkg="wlan_pioneer" name="wlanSignal" type="wlanSignal" />
</group>
<!-- Enable the motor with rostopic pub -->
<group if="$(arg enableMotor)" > <group if="$(arg enableMotor)" >
<node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/> <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
</group> </group>
@ -49,5 +60,16 @@
</group> </group>
<include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/> <include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
<group if="$(arg enableGmapping)" >
<include file="$(find p2os_launch)/launch/gmapping.launch" />
</group>
<group if="$(arg enableBagging)" >
<node pkg="rosbag" type="record" name="rosbag_record_wlan"
args="record -o /tmp/wlan_pioneer /pose /sonar /scan /slam_gmapping/entropy /tf /base_scan /wlan_signal" />
</group>
</launch> </launch>