29 lines
1.2 KiB
XML
29 lines
1.2 KiB
XML
<launch>
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<node name="robot" pkg="exomy" type="robot_node.py" respawn="true" output="screen"/>
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<node name="motors" pkg="exomy" type="motor_node.py" respawn="true" output="screen" />
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<node name="joystick" pkg="exomy" type="joystick_parser_node.py" respawn="true" output="screen" />
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<node respawn="true" pkg="joy" type="joy_node" name="joy_node">
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<param name="coalesce_interval" value="0.05"/>
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</node>
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<node pkg="web_video_server" type="web_video_server" name="web_video_server" respawn="false" output="screen">
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<param name="default_transport" value="compressed"/>
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<param name="quality" value="50"/>
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</node>
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<node pkg="usb_cam" type="usb_cam_node" name="pi_cam" respawn="false" output="screen">
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<param name="framerate" value="10"/>
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<param name="video_device" value="/dev/video0"/>
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<param name="image_width" value="640"/>
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<param name="image_height" value="480"/>
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<param name="pixel_format" value="yuyv"/>
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<param name="camera_frame_id" value="pi_cam"/>
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<param name="io_method" value="mmap"/>
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</node>
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
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<rosparam file="$(find exomy)/config/exomy.yaml"/>
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</launch>
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