23 lines
881 B
XML
23 lines
881 B
XML
<launch>
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<!-- CAN驱动节点 -->
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<node pkg="can_driver" type="can_ros_node" name="can_ros_node" output="screen">
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<!-- CAN设备参数 -->
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<param name="device_type" value="4" />
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<param name="device_index" value="0" />
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<param name="can_index_1" value="0" />
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<param name="can_index_2" value="1" />
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<!-- 波特率设置，单位为kbps 波特率修改在can_driver.cpp initCanChannel 函数内修改 -->
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<!-- <param name="baud_rate_1" value="1000" />
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<param name="baud_rate_2" value="250" /> -->
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<!-- ROS主题配置 -->
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<param name="vcu_topic" value="can_frame_topic" />
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<param name="bms_topic" value="/sent_messages_bms" />
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<param name="output_topic" value="/receive_canMessages" />
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<!-- 接收缓冲区大小 -->
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<param name="receive_buffer_size" value="1000" />
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</node>
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</launch>
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