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fix merging in launch/fetch_teleop.xml
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knorth55 committed Jul 17, 2021
1 parent bc84500 commit 5ba0431
Showing 1 changed file with 0 additions and 44 deletions.
44 changes: 0 additions & 44 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
Original file line number Diff line number Diff line change
Expand Up @@ -88,50 +88,6 @@
<param name="tuck_button" value="5"/>
</node>

<!-- safe teleop -->
<node name="unsafe_vel_mux" pkg="topic_tools" type="mux" respawn="true"
args="/teleop/cmd_vel /teleop/cmd_vel/safe /teleop/cmd_vel/unsafe">
<remap from="mux" to="unsafe_vel_mux" />
</node>

<!-- m.button[10]: L1 -->
<!-- m.button[9] : R2 -->
<!-- safe teleop with L1 -->
<node name="cmd_vel_mux_selector" pkg="jsk_robot_startup" type="mux_selector.py"
respawn="true"
args="/joy 'm.buttons[10]==1' /teleop/cmd_vel /cmd_vel 'True' /cmd_vel">
<remap from="mux" to="cmd_vel_mux" />
<param name="default_select" value="/cmd_vel" />
</node>

<!-- unsafe teleop with L1 and R2 -->
<node name="unsafe_vel_mux_selector" pkg="jsk_robot_startup" type="mux_selector.py"
respawn="true"
args="/joy 'm.buttons[10]==1 and m.buttons[9]==1' /teleop/cmd_vel/unsafe /joy 'm.buttons[10]==1 and m.buttons[9]==0' /teleop/cmd_vel/safe">
<remap from="mux" to="unsafe_vel_mux" />
<param name="default_select" value="/teleop/cmd_vel/safe" />
</node>

<node name="safe_teleop_base" pkg="safe_teleop_base" type="safe_teleop_base">
<remap from="base_velocity" to="/teleop/cmd_vel/unsafe" />
<remap from="~safe_vel" to="/teleop/cmd_vel/safe" />
<remap from="/odom" to="$(arg odom_topic)" />
<rosparam file="$(find fetch_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find fetch_navigation)/config/fetch/costmap_common.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find fetch_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find fetch_navigation)/config/fetch/costmap_local.yaml" command="load" ns="local_costmap" />
</node>
<rosparam ns="safe_teleop_base/local_costmap">
inflater:
inflation_radius: 1.0 # 0.7
cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value
obstacles:
min_obstacle_height: 0.05
# default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
update_frequency: 10.0
footprint_padding: 0.05
</rosparam>

<node name="safe_tilt_head" pkg="jsk_fetch_startup" type="safe_tilt_head.py" />

<!-- audible warning on unsafe teleop -->
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