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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| <launch> | ||
| <!-- Create namesapce to avoid naming collisions if launching several drivers --> | ||
| <group ns="hub_1"> | ||
| <node pkg="teraranger_array" type="teraranger_evo" name="hub_parser" output="screen"> | ||
| <!-- Set the serial port name --> | ||
| <param name="portname" value="/dev/ttyACM0" /> | ||
| <!-- Set the output frequency 0=ASAP, 1=50Hz, 2=100Hz, 3=250Hz--> | ||
| <param name="Rate" value="1" /> | ||
| <!-- Set the sequence mode 0=Crosstalk, 1=Anti_crosstalk--> | ||
| <param name="Sequence_mode" value="1" /> | ||
| <!-- Set the IMU mode 0=OFF, 1=QUAT, 2=EULER, 3=QUAT+LIN--> | ||
| <param name="IMU_mode" value="/dev/ttyACM1" /> | ||
| <!-- Set the sensor type of each port 0=EVO_600HZ, 1=EVO_60M--> | ||
| <param name="Sensor_type_port_0" value="0" /> | ||
| <param name="Sensor_type_port_1" value="0" /> | ||
| <param name="Sensor_type_port_2" value="0" /> | ||
| <param name="Sensor_type_port_3" value="0" /> | ||
| <param name="Sensor_type_port_4" value="0" /> | ||
| <param name="Sensor_type_port_5" value="0" /> | ||
| <param name="Sensor_type_port_6" value="0" /> | ||
| <param name="Sensor_type_port_7" value="0" /> | ||
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| <!-- Remapping topic when using converter nodes--> | ||
| <remap from="ranges" to="ranges_raw" /> | ||
| </node> | ||
| </group> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| <launch> | ||
| <!-- Create namesapce to avoid naming collisions if launching several drivers --> | ||
| <group ns="hub_1"> | ||
| <node pkg="teraranger_array" type="teraranger_evo" name="hub_parser" output="screen"> | ||
| <!-- Set the serial port name --> | ||
| <param name="portname" value="/dev/ttyACM0" /> | ||
| <!-- Set the output frequency 0=ASAP, 1=50Hz, 2=100Hz, 3=250Hz--> | ||
| <param name="Rate" value="1" /> | ||
| <!-- Set the sequence mode 0=Crosstalk, 1=Anti_crosstalk--> | ||
| <param name="Sequence_mode" value="1" /> | ||
| <!-- Set the IMU mode 0=OFF, 1=QUAT, 2=EULER, 3=QUAT+LIN--> | ||
| <param name="IMU_mode" value="/dev/ttyACM1" /> | ||
| <!-- Set the sensor type of each port 0=EVO_600HZ, 1=EVO_60M--> | ||
| <param name="Sensor_type_port_0" value="1" /> | ||
| <param name="Sensor_type_port_1" value="1" /> | ||
| <param name="Sensor_type_port_2" value="1" /> | ||
| <param name="Sensor_type_port_3" value="1" /> | ||
| <param name="Sensor_type_port_4" value="1" /> | ||
| <param name="Sensor_type_port_5" value="1" /> | ||
| <param name="Sensor_type_port_6" value="1" /> | ||
| <param name="Sensor_type_port_7" value="1" /> | ||
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| <!-- Remapping topic when using converter nodes--> | ||
| <remap from="ranges" to="ranges_raw" /> | ||
| </node> | ||
| </group> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <launch> | ||
| <!-- Create namesapce to avoid naming collisions if launching several drivers --> | ||
| <group ns="hub_1"> | ||
| <node pkg="teraranger_array" type="teraranger_one" name="hub_parser" output="screen" required="True" > | ||
| <!-- Set the serial port name --> | ||
| <param name="portname" value="/dev/ttyACM0" /> | ||
| <!-- Set the sensor mode 0=precise, 1=Fast, 2=Outdoor--> | ||
| <param name="Mode" value='0' /> | ||
| <!-- Remapping topic when using converter nodes--> | ||
| <remap from="ranges" to="ranges_raw" /> | ||
| </node> | ||
| </group> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <launch> | ||
| <!-- Create namesapce to avoid naming collisions if launching several drivers --> | ||
| <group ns="multiflex_1"> | ||
| <node pkg="teraranger_array" type="teraranger_multiflex" name="multiflex_parser" output="screen" required="True" > | ||
| <!-- Set the serial port name --> | ||
| <param name="portname" value="/dev/ttyACM0" /> | ||
| <!-- Set activation of each sensor--> | ||
| <param name="Sensor_0" value="True" /> | ||
| <param name="Sensor_1" value="False" /> | ||
| <param name="Sensor_2" value="True" /> | ||
| <param name="Sensor_3" value="False" /> | ||
| <param name="Sensor_4" value="True" /> | ||
| <param name="Sensor_5" value="False" /> | ||
| <param name="Sensor_6" value="False" /> | ||
| <param name="Sensor_7" value="True" /> | ||
| <!-- Remapping topic when using converter nodes--> | ||
| <remap from="ranges" to="ranges_raw" /> | ||
| </node> | ||
| </group> | ||
| </launch> |