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start.bash

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2023-07-30 16:23:46 +02:00
parent 0b65c73c34
commit ef45a0d522
2 changed files with 17 additions and 7 deletions
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15
src/dcaiti_control/config/dcaiti_config.yml
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@ -24,10 +24,19 @@ diff_cont:
linear:
x:
has_velocity_limits: true
max_velocity: 0.5
has_velocity_limits : true
max_velocity : 1.0 # m/s
min_velocity : -0.5 # m/s
has_acceleration_limits: true
max_acceleration: 0.2
max_acceleration : 0.6 # m/s^2
min_acceleration : -0.3 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 1.0 # rad/s
has_acceleration_limits: true
max_acceleration : 0.8 # rad/s^2
joint_limits:
ros__parameters:

9
start.bash
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@ -8,6 +8,7 @@ declare -a windows=(
"base"
"remote_control"
"lidar"
# "slam"
"nav2"
)
declare -a work_dirs=(
@ -15,16 +16,16 @@ declare -a work_dirs=(
$DCAITI_PATH
$DCAITI_PATH/src/dcaitirobot/launch
$DCAITI_PATH
$DCAITI_PATH/src/dcaitirobot/launch
#$DCAITI_PATH/src/dcaiti_navigation/launch
# $DCAITI_PATH/src/dcaitirobot/launch
$DCAITI_PATH/src/dcaiti_navigation/launch
)
declare -a commands=(
"htop"
"ros2 launch dcaiti_control launch_robot.py"
"ros2 launch remote_control_launch.py"
"ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py"
"ros2 launch launch_slam.py"
#"ros2 launch start_nav2.py"
# "ros2 launch launch_slam.py"
"ros2 launch start_nav2.py"
)
# Start tmux