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@@ -10,9 +10,9 @@ ns = "NAME_SPACE" 这个属性可以让你在自定义的命名空间里运行
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
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<arg name="port" value="9090"/>
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</include>
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-<node pkg="decision" name="decision" type="decision" output="screen" required="true"/>-->
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+<!--<node pkg="decision" name="decision" type="decision" output="screen" required="true"/>-->
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<node pkg="perception" name="perception" type="perception" output="screen" respawn="true"/>
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-<!--<node pkg="localization" name="localization" type="localization" output="screen" respawn="true"/>-->
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+<node pkg="localization" name="localization" type="localization" output="screen" respawn="true"/>
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<node pkg="canbus" name="canbus" type="canbus" output="screen" respawn="true"/>
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<param name = "rcu_canbus_mode" value = "tcp" /><!--can总线模式: usb(默认)/tcp-->
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<param name = "rcu_canbus_ip" value = "192.168.200.10" /><!--tcp转can模块IP地址-->
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@@ -20,4 +20,5 @@ ns = "NAME_SPACE" 这个属性可以让你在自定义的命名空间里运行
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<param name = "car_input_mode" value = "modbus" /><!--速度接入方式: rtk(gpfpd)/modbus(模拟量0~10V)-->
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<param name = "car_input_ip" value = "192.168.200.80" /><!--速度接入IP地址-->
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<param name = "car_input_port" value = "502"/><!--速度接入端口-->
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+<param name = "car_input_volspeed_max" value = "180.0"/><!--速度电压最大值-->
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</launch>
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