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Cleaned up packages and added new launch file

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Corwin Perren
2017-12-30 15:30:09 -08:00
parent da77c67454
commit ecb825bf7e
13 changed files with 146 additions and 320 deletions
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2
rover/rover_main/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
project(rover)
project(rover_main)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

57
rover/rover_main/launch/rover_main.launch
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@@ -1,19 +1,52 @@
<launch>
<group ns="cameras">
<node name="undercarriage" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
<param name="device_path" value="/dev/rover/camera_undercarriage" />
</node>
<!-- ########## Start Hardware Interface Nodes ########## -->
<!-- ### Start Drive Interfaces ### -->
<!-- Start Left Bogie Interface -->
<!-- Start Right Bogie Interface -->
<!-- Start Rear Bogie Interface -->
<!-- ### Start Arm Interfaces ### -->
<!-- Start Arm Base Interface -->
<!-- Start Arm End Effector Interface -->
<!-- ### Start Miscellaneous Interfaces ### -->
<!-- Start Sample Containment Interface -->
<!-- Start Tower Interface -->
<!-- Start Chassis Pan/Tilt Interface -->
<!-- Start Iris Interface -->
<!-- ########## Start All Rover Camera Nodes ########## -->
<!-- ### Start 2D Cameras ### -->
<group ns="cameras">
<!-- Start Undercarriage Camera -->
<node name="camera_undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
<param name="device_path" value="/dev/rover/camera_undercarriage"/>
</node>
<!-- Start Main Navigation Camera -->
<node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_main_navigation" />
</node>
<!-- Start Gimbal Camera -->
<node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_gimbal" />
</node>
<node name="main_navigation" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
<param name="device_path" value="/dev/rover/camera_main_navigation" />
</node>
<!-- ### Start 3D Cameras ### -->
<!-- Start ZED Camera -->
<group ns="zed">
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<!-- compliant mode for rviz -->
<arg name="odometry_frame" value="map" />
</include>
</group>
</group>
<node name="gimbal" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
<param name="device_path" value="/dev/rover/camera_gimbal" />
</node>
</group>
<!-- ########## Start System Status Monitoring Nodes ########## -->
<!-- Start System CPU / RAM / Filesystem Monitor -->
<!-- Start System Temperature Monitor -->
</launch>

6
rover/rover_main/launch/rover_nav.launch Normal file
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@@ -0,0 +1,6 @@
<launch>
<node name="navsat" pkg="nmea_navsat_driver" type="nmea_serial_driver" respawn="true">
<param name="port" value="/dev/rover/ttyGPS"/>
<param name="baud" value="9600"/>
</node>
</launch>

2
rover/rover_main/package.xml
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package format="2">
<name>rover</name>
<name>rover_main</name>
<version>0.0.0</version>
<description>The rover package</description>