Unverified Commit f5e163d4 authored by Karsten Knese's avatar Karsten Knese Committed by GitHub
Browse files

correct diffdrive demo (#94)


Signed-off-by: default avatarKarsten Knese <Karsten1987@users.noreply.github.com>
parent 46fe48fb
......@@ -2,8 +2,8 @@ controller_manager:
ros__parameters:
update_rate: 2 # Hz
joint_state_controller:
type: joint_state_controller/JointStateController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
diffbot_base_controller:
type: diff_drive_controller/DiffDriveController
......
......@@ -39,29 +39,34 @@ def generate_launch_description():
"diffbot_diff_drive_controller.yaml",
)
node_robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="screen",
parameters=[robot_description],
)
controller_manager_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, diffbot_diff_drive_controller],
output={
"stdout": "screen",
"stderr": "screen",
},
)
spawn_controller = Node(
package="controller_manager",
executable="spawner.py",
arguments=["joint_state_broadcaster"],
output="screen",
)
return LaunchDescription(
[
Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[robot_description],
),
Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, diffbot_diff_drive_controller],
output={
"stdout": "screen",
"stderr": "screen",
},
),
Node(
package="controller_manager",
executable="spawner.py",
parameter=["joint_state_controller"],
output="screen",
),
node_robot_state_publisher,
controller_manager_node,
spawn_controller,
]
)
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