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Merge pull request #8 from pvechersky/feature/launch_args
Adding arguments to launch files
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Original file line number | Diff line number | Diff line change |
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@@ -1,45 +1,67 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<!-- Standalone example launch file --> | ||
<!-- Standalone launch file --> | ||
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<!-- Declare arguments with default values --> | ||
<arg name="port" default="/dev/ttyUSB0"/> | ||
<arg name="baudrate" default="115200" /> | ||
<arg name="publish_gps" default="true" /> | ||
<arg name="publish_imu" default="true" /> | ||
<arg name="publish_odom" default="true" /> | ||
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<arg name="gps_rate" default="4" /> | ||
<arg name="imu_rate" default="10" /> | ||
<arg name="nav_rate" default="10" /> | ||
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<arg name="gps_frame_id" default="wgs84" /> | ||
<arg name="imu_frame_id" default="base_link" /> | ||
<arg name="odom_frame_id" default="wgs84" /> | ||
<arg name="odom_child_frame_id" default="base_link" /> | ||
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<arg name="debug" default="true" /> | ||
<arg name="diagnostics" default="true" /> | ||
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<!-- For setting debug level to debug --> | ||
<env name="ROSCONSOLE_CONFIG_FILE" | ||
<group if="$(arg debug)"> | ||
<env name="ROSCONSOLE_CONFIG_FILE" | ||
value="$(find microstrain_3dm_gx5_45)/config/custom_rosconsole.conf"/> | ||
</group> | ||
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<!-- Microstain sensor node --> | ||
<!-- Microstrain sensor node --> | ||
<node name="microstrain_3dm_gx5_45_node" | ||
pkg="microstrain_3dm_gx5_45" | ||
type="microstrain_3dm_gx5_45_node" output="screen"> | ||
<!--<param name="port" value="/dev/ttyACM0" type="str" />--> | ||
<param name="port" value="/dev/ttyUSB0" type="str" /> | ||
<param name="baudrate" value="115200" type="int" /> | ||
<param name="port" value="$(arg port)" type="str" /> | ||
<param name="baudrate" value="$(arg baudrate)" type="int" /> | ||
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<param name="device_setup" value="true" type="bool" /> | ||
<param name="readback_settings" value="true" type="bool" /> | ||
<param name="save_settings" value="true" type="bool" /> | ||
<param name="auto_init" value="true" type="bool" /> | ||
<param name="gps_rate" value="4" type="int" /> | ||
<param name="imu_rate" value="10" type="int" /> | ||
<param name="nav_rate" value="10" type="int" /> | ||
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<param name="gps_rate" value="$(arg gps_rate)" type="int" /> | ||
<param name="imu_rate" value="$(arg imu_rate)" type="int" /> | ||
<param name="nav_rate" value="$(arg nav_rate)" type="int" /> | ||
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<param name="dynamics_mode" value="1" type="int" /> | ||
<param name="declination_source" value="2" type="int" /> | ||
<param name="declination" value="0.23" type="double" /> | ||
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<param name="gps_frame_id" value="wgs84" type="str" /> | ||
<param name="imu_frame_id" value="base_link" type="str" /> | ||
<param name="odom_frame_id" value="wgs84" type="str" /> | ||
<param name="odom_child_frame_id" value="base_link" type="str" /> | ||
<param name="gps_frame_id" value="$(arg gps_frame_id)" type="str" /> | ||
<param name="imu_frame_id" value="$(arg imu_frame_id)" type="str" /> | ||
<param name="odom_frame_id" value="$(arg odom_frame_id)" type="str" /> | ||
<param name="odom_child_frame_id" value="$(arg odom_child_frame_id)" type="str" /> | ||
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<param name="publish_gps" value="true" type="bool" /> | ||
<param name="publish_imu" value="true" type="bool" /> | ||
<param name="publish_odom" value="true" type="bool" /> | ||
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<param name="publish_gps" value="$(arg publish_gps)" type="bool" /> | ||
<param name="publish_imu" value="$(arg publish_imu)" type="bool" /> | ||
<param name="publish_odom" value="$(arg publish_odom)" type="bool" /> | ||
</node> | ||
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<!-- Diagnostics --> | ||
<node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/> | ||
<!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints" | ||
<group if="$(arg diagnostics)"> | ||
<node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/> | ||
<!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints" | ||
args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>--> | ||
</group> | ||
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</launch> | ||
</launch> |
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