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Added 2017-2018 mars rover repository.

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This commit is contained in:
Corwin Perren
2018-08-22 14:54:52 -07:00
parent a56690ca18
commit 7fd2641766
750 changed files with 2019222 additions and 0 deletions
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8
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/ground_station.launch Normal file
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<launch>
<!-- ########## Start Nimbro Topic Transport Nodes ########## -->
<include file="$(find rover_main)/launch/ground_station/topic_transport_senders.launch"/>
<include file="$(find rover_main)/launch/ground_station/topic_transport_receivers.launch"/>
<!-- ########## Start Ground Station Interface ########## -->
<node name="ground_station" pkg="ground_station" type="ground_station_launch.sh" required="true" output="screen"/>
</launch>

87
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch Normal file
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<launch>
<group ns="cameras">
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17001" />
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17002" />
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17003" />
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" />
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" />
</node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" />
</node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" />
</node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" />
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17009" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17010" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17011" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17012" />
</node>
</group>
<group>
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17013" />
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17014" />
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17015" />
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17016" />
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17017" />
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17018" />
</node>
<node name="udp_statuses" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17019" />
</node>
<node name="udp_arm_statuses" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17020" />
</node>
</group>
</launch>

32
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch Normal file
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<launch>
<group ns="sender_transports">
<arg name="target" default="192.168.1.10" />
<node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17100" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/control", compress: true, rate: 30.0},
{name: "/rover_arm/control/relative", compress: true, rate: 30.0},
{name: "/rover_control/gripper/control", compress: true, rate: 30.0}]
</rosparam>
</node>
<node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17101" />
<rosparam param="topics">
[{name: "/cameras/chassis/camera_control", compress: false, rate: 5.0},
{name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
{name: "/rover_status/update_requested", compress: false, rate: 5.0},
{name: "/rover_arm/control/absolute", compress: true, rate: 5.0},
{name: "/rover_control/camera/control", compress: true, rate: 5.0}]
</rosparam>
</node>
</group>
</launch>

20
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover.launch Normal file
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<launch>
<!-- ########## Start Rover Control Nodes ########## -->
<include file="$(find rover_main)/launch/rover/control.launch"/>
<include file="$(find rover_main)/launch/rover/arm.launch"/>
<include file="$(find rover_main)/launch/rover/science.launch"/>
<!-- ########## Start All Rover Camera Nodes ########## -->
<include file="$(find rover_main)/launch/rover/cameras.launch"/>
<!-- ########## Start System Status Monitoring Nodes ########## -->
<include file="$(find rover_main)/launch/rover/status.launch"/>
<!-- ########## Start Nimbro Topic Transport Nodes ########## -->
<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>
<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>
<!-- ########## Start Odometry Nodes ########## -->
<include file="$(find rover_main)/launch/rover/odometry2.launch"/>
</launch>

3
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/arm.launch Normal file
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<launch>device.name
<node name="rover_arm" pkg="rover_arm" type="rover_arm" respawn="true" output="screen"/>
</launch>

25
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/cameras.launch Normal file
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<launch>
<group ns="cameras">
<!-- Start Undercarriage Camera -->
<node name="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"/>
<param name="upside_down" value="true"/>
</node>
<!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;-->
<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>
<!--&lt;!&ndash; Start Chassis Camera &ndash;&gt;-->
<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_chassis" />
</node>
<!--&lt;!&ndash; Start End Effector Camera &ndash;&gt;-->
<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >
<param name="is_rtsp_camera" value="true" />
<param name="device_path" value="rtsp://192.168.1.11" />
</node>
</group>
</launch>

45
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/control.launch Normal file
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<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyIRIS"/>
<param name="hertz" value="20"/>
</node>
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyREAR"/>
<param name="drive_control_topic" value="drive_control/rear"/>
<param name="drive_control_status_topic" value="drive_status/rear"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyLEFT"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="drive_control_status_topic" value="drive_status/left"/>
<param name="invert_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/>
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyRIGHT"/>
<param name="drive_control_topic" value="drive_control/right"/>
<param name="drive_control_status_topic" value="drive_status/right"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
<node name="tower_and_pan_tilt" pkg="rover_control" type="tower_and_pan_tilt_control.py" respawn="true" output="screen"/>
<node name="chassis_pan_tilt" pkg="rover_control" type="chassis_pan_tilt_control.py" respawn="true" output="screen"/>
<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen">
<!--<param name="port" value="/dev/rover/ttyARM"/>-->
</node>
<!--<node name="scale" pkg="rover_control" type="emergency_scale.py" respawn="true" output="screen">-->
<!--</node>-->
</group>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/odometry.launch Normal file
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<launch>
<!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
<!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
<group ns="odometry">
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="odom_record" pkg="rosbag" type="record" args="-o /home/nvidia/BAGS/odometry /odometry/gps/fix /odometry/gps/sentence /odometry/imu/data /odometry/odometry/filtered /odometry/odometry/gps /odometry/vel" output="screen" />
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" />
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
<remap from="fix" to="gps/fix"/>
</node>
<!-- ########## Performs a tranform on the GPS and IMU frames so odom can use it ########## -->
<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>
<!-- ########## Main Odometry Localization Node ########## -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
<remap from="/gpx/fix" to="gps/fix"/>
<param name="output_frame" value="odom"/>
<param name="frequency" value="20"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="false"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="odom0" value="gps"/>
<param name="imu0" value="imu/data"/>
<rosparam param="odom0_config">[true, true, true,
false, false, false,
false , false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true , true , true,
false, false, false,
true , true , true ,
true , true , true ]</rosparam>
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="print_diagnostics" value="true"/>
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="odom0_queue_size" value="2"/>
<param name="imu0_queue_size" value="10"/>
</node>
<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">
<param name="broadcast_utm_transform" value="true"/>
</node>
</group>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/odometry2.launch Normal file
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<launch>
<!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
<!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
<group ns="rover_odometry">
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" >
<!--<param name="gps_sentence_topic" value="/nmea_sentence"/>-->
<!--<param name="imu_data_topic" value="/imu/data"/>-->
<!--<remap from="nmea_sentence" to="gps/sentence"/>-->
<!--<remap from="imu/data" to="/imu/data"/>-->
</node>
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>-->
<!--<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>-->
<!--<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">-->
<!--<param name="output_frame" value="odom"/>-->
<!--<param name="frequency" value="20"/>-->
<!--<param name="odom_used" value="true"/>-->
<!--<param name="imu_used" value="true"/>-->
<!--<param name="vo_used" value="false"/>-->
<!--<param name="sensor_timeout" value="0.1"/>-->
<!--<param name="two_d_mode" value="false"/>-->
<!--<param name="map_frame" value="map"/>-->
<!--<param name="odom_frame" value="odom"/>-->
<!--<param name="base_link_frame" value="base_link"/>-->
<!--<param name="world_frame" value="odom"/>-->
<!--<param name="odom0" value="fix"/>-->
<!--<param name="imu0" value="imu/data"/>-->
<!--<rosparam param="odom0_config">[true, true, false,-->
<!--false, false, false,-->
<!--false , false, false,-->
<!--false, false, false,-->
<!--false, false, false]</rosparam>-->
<!--<rosparam param="imu0_config">[false, false, false,-->
<!--true , true , true,-->
<!--false, false, false,-->
<!--true , true , true ,-->
<!--true , true , true ]</rosparam>-->
<!--<param name="odom0_differential" value="false"/>-->
<!--<param name="imu0_differential" value="false"/>-->
<!--<param name="imu0_remove_gravitational_acceleration" value="true"/>-->
<!--<param name="odom0_relative" value="false"/>-->
<!--<param name="imu0_relative" value="false"/>-->
<!--<param name="print_diagnostics" value="true"/>-->
<!--&lt;!&ndash; ======== ADVANCED PARAMETERS ======== &ndash;&gt;-->
<!--<param name="odom0_queue_size" value="2"/>-->
<!--<param name="imu0_queue_size" value="10"/>-->
<!--</node>-->
<!--<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">-->
<!--<param name="broadcast_utm_transform" value="true"/>-->
<!--</node>-->
</group>
</launch>

5
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/science.launch Normal file
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<launch>
<group ns="rover_science">
<node name="rover_science" pkg="rover_science" type="rover_science_node.py" respawn="true" output="screen"/>
</group>
</launch>

5
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/status.launch Normal file
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<launch>
<group ns="rover_status">
<node name="rover_status" pkg="rover_status" type="system_statuses_node.py" output="screen"/>
</group>
</launch>

6
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/test_control.launch Normal file
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<launch>
<group ns="rover_control">
<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen">
</node>
</group>
</launch>

11
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch Normal file
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<launch>
<group ns="rover_control">
<node name="ground_station_drive_command" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17100" />
</node>
<node name="ground_station_tcp_topics" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17101" />
</node>
</group>
</launch>

177
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch Normal file
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<launch>
<group ns="sender_transports">
<arg name="target" default="192.168.1.15" />
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17009" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17010" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17011" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17012" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
[{name: "/rover_status/wheel_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17014" />
<rosparam param="topics">
[{name: "/rover_status/camera_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17015" />
<rosparam param="topics">
[{name: "/rover_status/frsky_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17016" />
<rosparam param="topics">
[{name: "/rover_status/gps_status", compress: false, rate: 1.0},
{name: "/rover_odometry/fix", compress: false, rate: 5.0}]
</rosparam>
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17017" />
<rosparam param="topics">
[{name: "/rover_status/jetson_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17018" />
<rosparam param="topics">
[{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17019" />
<rosparam param="topics">
[
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
{name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
{name: "/rover_control/mining/status", compress: false, rate: 5.0},
{name: "/rover_control/gripper/status", compress: false, rate: 5.0},
{name: "/rover_science/soil_probe/data", compress: false, rate: 5.0},
{name: "/rover_science/rdf/data", compress: false, rate: 50.0},
{name: "/rover_control/scale/measurement", compress: false, rate: 20.0}
]
</rosparam>
</node>
<node name="arm_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<rosparam param="topics">
[
{name: "/rover_arm/status", compress: false, rate: 5.0}
]
</rosparam>
</node>
</group>
</launch>