update esw launch files

umrover · Feb 17, 2024 · b66415b · b66415b
1 parent 8f55090
commit b66415b
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Showing 4 changed files with 8 additions and 11 deletions.
diff --git a/deps/libde265 b/deps/libde265
diff --git a/launch/esw_base.launch b/launch/esw_base.launch
@@ -1,15 +1,12 @@
 <launch>
     <rosparam command="load" file="$(find mrover)/config/esw.yaml" />
 
-    <node name="can_driver_0" pkg="mrover" type="can_driver">
+    <node name="can_driver_0" pkg="mrover" type="can_driver_0">
         <param name="interface" value="can0" />
     </node>
-<?ignore
-    <node name="can_driver_1" pkg="mrover" type="can_driver">
+    <node name="can_driver_1" pkg="mrover" type="can_driver_1">
         <param name="interface" value="can1" />
     </node>
-?>
+
     <node name="drive_bridge" pkg="mrover" type="drive_bridge" />
-    <node name="mast_gimbal_bridge" pkg="mrover" type="mast_gimbal_bridge" />
-    <node name="pdb_bridge" pkg="mrover" type="pdb_bridge" />
-</launch>
+</launch>
diff --git a/launch/esw_science.launch b/launch/esw_science.launch
@@ -1,5 +1,5 @@
 <launch>
-    <include file="$(find mrover)/launch/esw_generic.launch" />
+    <include file="$(find mrover)/launch/esw_base.launch" />
 
     <!-- NOTE(quintin): this was failing an assert so I commented it out -->
     <!-- <node name="cache_bridge" pkg="mrover" type="cache_bridge" /> -->

diff --git a/src/localization/gps_driver.py b/src/localization/gps_driver.py
@@ -24,8 +24,8 @@
 class GPS_Driver:
     def __init__(self):
         rospy.init_node("gps_driver")
-        self.port = rospy.get_param("port")
-        self.baud = rospy.get_param("baud")
+        self.port = "/dev/gps"
+        self.baud = 115200
         # self.base_station_sub = rospy.Subscriber("/rtcm", Message, self.process_rtcm)
         self.gps_pub = rospy.Publisher("fix", NavSatFix, queue_size=1)
         # self.rtk_fix_pub = rospy.Publisher("rtk_fix_status", rtkStatus, queue_size=1)
+2 −2		.github/workflows/arm.yml
+2 −2		.github/workflows/build.yml
+1 −1		.github/workflows/coverity.yml
+2 −2		.github/workflows/decode.yml
+1 −1		.github/workflows/lint.yml
+3 −3		.github/workflows/mingw.yml
+3 −3		.github/workflows/osx.yml
+10 −4		CMakeLists.txt
+10 −2		README.md
+6 −6		configure.ac
+12 −12		dec265/CMakeLists.txt
+6 −6		dec265/Makefile.am
+34 −14		dec265/dec265.cc
+89 −68		dec265/sdl.cc
+5 −2		dec265/sdl.hh
+2 −2		extra/libde265/de265-version.h
+2 −2		libde265.pc.in
+9 −1		libde265/CMakeLists.txt
+30 −6		libde265/cabac.cc
+5 −5		libde265/cabac.h
+3 −3		libde265/configparam.cc
+13 −12		libde265/decctx.cc
+5 −5		libde265/decctx.h
+11 −11		libde265/dpb.cc
+3 −3		libde265/encoder/algo/coding-options.cc
+1 −1		libde265/encoder/algo/tb-intrapredmode.cc
+1 −1		libde265/encoder/encoder-types.cc
+6 −6		libde265/encoder/encpicbuf.cc
+9 −1		libde265/image.cc
+8 −1		libde265/image.h
+32 −4		libde265/motion.cc
+1 −1		libde265/nal-parser.cc
+2 −2		libde265/refpic.cc
+15 −1		libde265/slice.cc
+1 −1		libde265/sps.cc
+71 −0		scripts/build-android-libs.sh
+1 −0		scripts/check_licenses.sh
+5 −2		scripts/ci-before-install-linux.sh
+8 −0		scripts/ci-run.sh
+ −		testdata/girlshy.h265