forked from xtdrone/XTDrone
25 lines
873 B
XML
25 lines
873 B
XML
<?xml version="1.0"?>
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<launch>
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<arg name="namespace" default="wamv"/>
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<!-- Joystick Driver -->
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<node pkg="joy" type="joy_node" name="joy">
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<param name="dev" value="/dev/input/js0"/>
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<!--<param name="autorepeat_rate" type="double" value="10.0" /> -->
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<param name="autorepeat_rate" value="10"/>
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</node>
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<!-- Joystick Teleop -->
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<rosparam file="$(find vrx_gazebo)/config/diffdrive.yaml"
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command="load"/>
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<node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
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<remap from="cmd_vel" to="cmd_vel" />
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</node>
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<!-- Convert Twist messages to Drive messages -->
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<node pkg="vrx_gazebo" type="twist2thrust.py" name="twist2thrust" output="screen">
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<remap from="left_cmd" to="/$(arg namespace)/thrusters/left_thrust_cmd"/>
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<remap from="right_cmd" to="/$(arg namespace)/thrusters/right_thrust_cmd"/>
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</node>
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</launch>
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