56 lines
1.7 KiB
XML
56 lines
1.7 KiB
XML
<?xml version="1.0" ?>
|
|
<!--
|
|
|
|
Author: Jonathan Sprinkle
|
|
Copyright (c) 2015 Arizona Board of Regents
|
|
All rights reserved.
|
|
|
|
Permission is hereby granted, without written agreement and without
|
|
license or royalty fees, to use, copy, modify, and distribute this
|
|
software and its documentation for any purpose, provided that the
|
|
above copyright notice and the following two paragraphs appear in
|
|
all copies of this software.
|
|
|
|
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
|
|
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
|
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
|
|
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
|
|
SUCH DAMAGE.
|
|
|
|
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
|
|
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
|
|
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
|
|
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
|
|
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
|
|
|
|
Summary:
|
|
=======
|
|
This launch file loads the worlds and models for the catvehicle
|
|
|
|
How to execute it:
|
|
=================
|
|
roslaunch catvehicle joystick.launch
|
|
|
|
-->
|
|
|
|
<launch>
|
|
|
|
<arg name="robot_name" default="catvehicle" />
|
|
<arg name="velmax" default="15.0"/>
|
|
|
|
<!-- include information for the joystick, etc. -->
|
|
<node pkg="joy" type="joy_node" name="joy_node" output="screen"
|
|
required="true">
|
|
</node>
|
|
|
|
<node pkg="catvehicle" type="joy2cmdvel.py" name="joy2cmdvel" output="screen"
|
|
required="true">
|
|
<param name="namespace" value="/$(arg robot_name)"/>
|
|
<param name="velmax" value="$(arg velmax)"/>
|
|
<remap from="/catvehicle/cmd_vel" to="/$(arg robot_name)/cmd_vel" />
|
|
</node>
|
|
|
|
|
|
|
|
</launch>
|