Commit 6ddd4289 authored by roangel's avatar roangel
Browse files

test CF1

parent d35c17f9
......@@ -11,7 +11,7 @@ std::map<std::string, std::string> channel_LUT
{"cfThree", "0/72/2M"},
{"cfFour", "0/99/2M"},
{"PPS_CF01", "0/0/2M"},
{"PPS_CF02", "0/8/2M"},
{"PPS_CF02", "0/8/2M/E7E7E7E702"},
{"PPS_CF03", "0/16/2M"},
{"PPS_CF04", "0/24/2M"},
{"PPS_CF05", "0/32/2M"},
......
<launch>
<node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py">
<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
</node>
<node pkg="d_fall_pps" name="PPSClient" output="screen" type="PPSClient">
<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
<param name="studentID" value="$(optenv ROS_NAMESPACE)" />
</node>
<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" />
</node>
<node pkg="d_fall_pps" name="FollowN_1Service" output="screen" type="FollowN_1Service">
<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" />
</node>
<!-- When we have a GUI, this has to be adapted and included -->
<node pkg="d_fall_pps" name="student_GUI" output="screen" type="student_GUI">
<!-- <rosparam command="load" file="$(find d_fall_pps)/launch/ControlParams.yaml" /> -->
</node>
<!-- <node pkg="rqt_plot" name="commandplotter" type="rqt_plot" args="/PPSClient/ControlCommand/roll /PPSClient/ControlCommand/pitch /PPSClient/ControlCommand/yaw" /> -->
</launch>
safeController: "SafeControllerService/RateController"
customController: "FollowN_1ControllerService/FollowController"
customController: "FollowN_1Service/FollowController"
strictSafety: true
angleMargin: 0.6
8,cfOne,0/76/2M/E7E7E7E701,0,-1.6,-1.12,-0.2,0.52,0.96,2
1,PPS_CF01,0/0/2M,0,-1.11965,0.674688,-0.2,-0.475825,1.29008,2
......@@ -213,7 +213,7 @@ void followCallback(const Setpoint& newSetpoint) {
int main(int argc, char* argv[]) {
ros::init(argc, argv, "FollowN_1ControllerService");
ros::init(argc, argv, "FollowN_1Service");
ros::NodeHandle nodeHandle("~");
loadParameters(nodeHandle);
......
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