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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,73 +1,73 @@ | ||
| <launch> | ||
| <rosparam command="load" file="$(find mrover)/config/esw.yaml" /> | ||
| <rosparam command="load" file="$(find mrover)/config/esw.yaml"/> | ||
|
|
||
| <!-- Bridges between ROS and SocketCAN --> | ||
| <!-- <node name="can_driver_0" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can0" /> | ||
| </node> --> | ||
| <node name="can_driver_1" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can1" /> | ||
| </node> | ||
| <node name="can_driver_2" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can2" /> | ||
| </node> | ||
| <node name="can_driver_3" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can3" /> | ||
| </node>streamer_nodelet | ||
| <!-- Bridges between ROS and SocketCAN --> | ||
| <!-- <node name="can_driver_0" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can0" /> | ||
| </node> --> | ||
| <node name="can_driver_1" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can1"/> | ||
| </node> | ||
| <node name="can_driver_2" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can2"/> | ||
| </node> | ||
| <node name="can_driver_3" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can3"/> | ||
| </node> | ||
|
|
||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_mobility" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video0" /> | ||
| <param name="port" value="8081" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_mobility" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video0"/> | ||
| <param name="port" value="8081"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
|
|
||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_static" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video2" /> | ||
| <param name="port" value="8082" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_static" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video2"/> | ||
| <param name="port" value="8082"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
|
|
||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_finger" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video4" /> | ||
| <param name="port" value="8083" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_finger" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video4"/> | ||
| <param name="port" value="8083"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
|
|
||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_zed" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="image_topic" value="/camera/left/image"/> | ||
| <param name="port" value="8084" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_zed" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="image_topic" value="/camera/left/image"/> | ||
| <param name="port" value="8084"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
|
|
||
| <node name="drive_bridge" pkg="mrover" type="drive_bridge" output="screen" /> | ||
| <node name="drive_bridge" pkg="mrover" type="drive_bridge" output="screen"/> | ||
|
|
||
| <!-- Interprets status from navigation and teleoperation to deliver the correct LED mode to | ||
| the bridge --> | ||
| <node name="led" pkg="mrover" type="led" output="screen" /> | ||
| <!-- This is the STM bridge, not working right now for unknown reasons --> | ||
| <!-- <node name="led_hw_bridge" pkg="mrover" type="led_hw_bridge" /> --> | ||
| <node name="arduino_led_hw_bridge" pkg="mrover" type="arduino_led_hw_bridge.py" | ||
| output="screen" /> | ||
| <!-- Interprets status from navigation and teleoperation to deliver the correct LED mode to | ||
| the bridge --> | ||
| <node name="led" pkg="mrover" type="led" output="screen"/> | ||
| <!-- This is the STM bridge, not working right now for unknown reasons --> | ||
| <!-- <node name="led_hw_bridge" pkg="mrover" type="led_hw_bridge" /> --> | ||
| <node name="arduino_led_hw_bridge" pkg="mrover" type="arduino_led_hw_bridge.py" | ||
| output="screen"/> | ||
|
|
||
| <node name="mast_gimbal_bridge" pkg="mrover" type="mast_gimbal_bridge" output="screen" /> | ||
| <node name="mast_gimbal_bridge" pkg="mrover" type="mast_gimbal_bridge" output="screen"/> | ||
| </launch> |