66 lines
3.4 KiB
XML
66 lines
3.4 KiB
XML
<launch>
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<!-- 自动驾驶的指令 -->
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<arg name="input_movebase_ctrl_cmd_topic_" default="/cmd_vel"/>
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<!-- 脱困状态下的控制指令 -->
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<arg name="input_extricate_ctrl_cmd_topic_" default="/extricate_cmd"/>
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<!-- 远程控制的指令 -->
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<arg name="input_remote_ctrl_cmd_topic_" default="/remote_ctrl"/>
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<arg name="input_canframe_topic_" default="/received_messages_vcuDriver"/>
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<arg name="output_canframe_topic_" default="/sent_messages_vcuDriver"/>
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<!-- 里程计 -->
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<arg name="output_vehicleodom_topic_" default="/vehicleodom"/>
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<!-- 电池数据 -->
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<arg name="input_battery_state_topic_" default="/sensor/battery_state"/>
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<!-- 急停状态 -->
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<arg name="input_e_stop_topic_" default="/e_stop_states"/>
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<!-- 输出的轮速指令 -->
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<arg name="output_rps_topic_" default="vcu_driver/rps_cmd"/>
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<!-- 车轮电机状态 -->
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<arg name="output_motor_status_topic_" default="/motor_status"/>
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<!-- 轮距 -->
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<arg name="track_base_" default="0.435"/>
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<!-- 轮子直径 -->
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<arg name="track_radius_" default="0.205"/>
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<!-- 减速比 -->
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<arg name="gear_ratio_" default="1.0"/>
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<!-- 最大转速限制 -->
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<arg name="max_rps_" default="300.0"/>
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<!-- 最大车直行速度和角速度限制 -->
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<arg name="max_carVelocity_" default="2.0"/>
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<!-- 指令时间间隔限制 -->
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<arg name="cmd_timeout_" default="0.3"/>
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<!-- 里程计误差修正参数 -->
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<arg name="odom_x_scale_" default="1.0"/>
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<arg name="odom_y_scale_" default="1.0"/>
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<arg name="odom_z_scale_positive_" default="1.0"/>
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<arg name="odom_z_scale_negative_" default="1.0"/>
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<node pkg="vcu_driver" type="vcu_driver_node" name="vcu_driver_node" output="screen">
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<param name="input_movebase_ctrl_cmd_topic_" value="$(arg input_movebase_ctrl_cmd_topic_)" type="string" />
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<param name="input_extricate_ctrl_cmd_topic_" value="$(arg input_extricate_ctrl_cmd_topic_)" type="string" />
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<param name="input_remote_ctrl_cmd_topic_" value="$(arg input_remote_ctrl_cmd_topic_)" type="string" />
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<param name="input_canframe_topic_" value="$(arg input_canframe_topic_)" type="string" />
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<param name="output_canframe_topic_" value="$(arg output_canframe_topic_)" type="string" />
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<param name="output_rps_topic_" value="$(arg output_rps_topic_)" type="string" />
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<param name="output_vehicleodom_topic_" value="$(arg output_vehicleodom_topic_)" type="string" />
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<param name="output_motor_status_topic_" value="$(arg output_motor_status_topic_)" type="string" />
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<param name="track_base_" value="$(arg track_base_)" type="double" />
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<param name="track_radius_" value="$(arg track_radius_)" type="double" />
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<param name="gear_ratio_" value="$(arg gear_ratio_)" type="double" />
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<param name="max_rps_" value="$(arg max_rps_)" type="double" />
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<param name="cmd_timeout_" value="$(arg cmd_timeout_)" type="double" />
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<param name="odom_x_scale_" value="$(arg odom_x_scale_)" type="double" />
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<param name="odom_y_scale_" value="$(arg odom_y_scale_)" type="double" />
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<param name="odom_z_scale_positive_" value="$(arg odom_z_scale_positive_)" type="double" />
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<param name="odom_z_scale_negative_" value="$(arg odom_z_scale_negative_)" type="double" />
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</node>
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</launch> |