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Use node parameters from yaml files #2

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merged 1 commit into from
Dec 4, 2024
Merged

Use node parameters from yaml files #2

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8 changes: 4 additions & 4 deletions compose.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,8 @@ services:
environment:
- RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
devices:
- /dev/ttyUSBPAD
volumes:
- /dev:/dev
- ./config/crsf_teleop.yaml:/ros2_ws/install/husarion_ugv_crsf_teleop/share/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
command: >
ros2 launch husarion_ugv_crsf_teleop teleop.launch.py
port:=/dev/ttyUSBPAD namespace:=panther
ros2 launch husarion_ugv_crsf_teleop teleop.launch.py namespace:=panther
9 changes: 9 additions & 0 deletions config/crsf_teleop.yaml
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@@ -0,0 +1,9 @@
/**:
crsf_teleop:
ros__parameters:
port: /dev/ttyUSBPAD
baud: 576000
e_stop_republish: false
enable_cmd_vel_silence_switch: false
linear_speed_presets: [0.5, 1.0, 2.0]
angular_speed_presets: [0.5, 1.0, 2.0]
4 changes: 2 additions & 2 deletions husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
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@@ -1,7 +1,7 @@
/**:
crsf_teleop_node:
crsf_teleop:
ros__parameters:
port: /dev/ttyUSB0
port: /dev/ttyUSBPAD
baud: 576000
e_stop_republish: false
enable_cmd_vel_silence_switch: false
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