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start.bash

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This commit is contained in:
Your Name 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: linear:
x: x:
has_velocity_limits: true has_velocity_limits : true
max_velocity: 0.5 max_velocity : 1.0 # m/s
min_velocity : -0.5 # m/s
has_acceleration_limits: true 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: joint_limits:
ros__parameters: ros__parameters:

9
start.bash
View File

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