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adding sample foo and bar launch files for multi-computer testing
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="host" default="192.168.1.110"/> | ||
| <arg name="port" default="8080"/> | ||
| <node pkg="canopy_client" type="client_node.py" name="bar_client_node" output="screen"> | ||
| <param name="name" value="bar"/> | ||
| <param name="host" value="$(arg host)"/> | ||
| <param name="port" value="$(arg port)"/> | ||
| <param name="private_key" value="PsFXjmWpszr6acSKL" /> | ||
| <param name="description" value="bar robot" /> | ||
| <rosparam> | ||
| publishing: | ||
| - /state | ||
| - /filtered_state | ||
| - /test_string | ||
| - /test_string2 | ||
| - /test_string3 | ||
| types: | ||
| - geometry_msgs/Point | ||
| - geometry_msgs/PointStamped | ||
| - std_msgs/String | ||
| - std_msgs/String | ||
| - std_msgs/String | ||
| trusted: | ||
| - ".*" | ||
| - ".*" | ||
| - ".*" | ||
| - ".*" | ||
| - ".*" | ||
| </rosparam> | ||
| </node> | ||
|
|
||
| <node pkg="rostopic" type="rostopic" name="state_pub" | ||
| args="pub -r 200 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/> | ||
| <node pkg="rostopic" type="rostopic" name="filtered_state_pub" | ||
| args="pub -sr 200 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" /> | ||
| <node pkg="rostopic" type="rostopic" name="string_pub" | ||
| args="pub -r 200 /test_string std_msgs/String 'test'" /> | ||
| <node pkg="rostopic" type="rostopic" name="string_pub2" | ||
| args="pub -r 200 /test_string2 std_msgs/String 'test2'" /> | ||
| <node pkg="rostopic" type="rostopic" name="string_pub3" | ||
| args="pub -r 200 /test_string3 std_msgs/String 'test3'" /> | ||
| <node pkg="tf" type="static_transform_publisher" | ||
| name="tf_test" args="1 0 0 0 0 0 1 world base_link 100" /> | ||
| <!--<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > | ||
| <param name="video_device" value="/dev/video0" /> | ||
| <param name="image_width" value="640" /> | ||
| <param name="image_height" value="480" /> | ||
| <param name="pixel_format" value="yuyv" /> | ||
| <param name="camera_frame_id" value="usb_cam" /> | ||
| <param name="io_method" value="mmap"/> | ||
| </node>--> | ||
| <!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> --> | ||
| <!-- <remap from="image" to="/qux/usb_cam/image_raw"/> --> | ||
| <!-- <param name="autosize" value="true" /> --> | ||
| <!-- </node> --> | ||
|
|
||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="host" default="192.168.1.110"/> | ||
| <arg name="port" default="8080"/> | ||
| <node pkg="canopy_client" type="client_node.py" name="foo_client_node" output="screen"> | ||
| <param name="name" value="foo"/> | ||
| <param name="host" value="$(arg host)"/> | ||
| <param name="port" value="$(arg port)"/> | ||
| <param name="private_key" value="PsFXjmWpszr6acSKL" /> | ||
| <param name="description" value="foo robot" /> | ||
| <rosparam> | ||
| publishing: | ||
| - /state | ||
| - /filtered_state | ||
| - /test_string | ||
| - /test_string2 | ||
| - /test_string3 | ||
| types: | ||
| - geometry_msgs/Point | ||
| - geometry_msgs/PointStamped | ||
| - std_msgs/String | ||
| - std_msgs/String | ||
| - std_msgs/String | ||
| trusted: | ||
| - ".*" | ||
| - ".*" | ||
| - ".*" | ||
| - ".*" | ||
| - ".*" | ||
| </rosparam> | ||
| </node> | ||
|
|
||
| <node pkg="rostopic" type="rostopic" name="state_pub" | ||
| args="pub -r 200 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/> | ||
| <node pkg="rostopic" type="rostopic" name="filtered_state_pub" | ||
| args="pub -sr 200 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" /> | ||
| <node pkg="rostopic" type="rostopic" name="string_pub" | ||
| args="pub -r 200 /test_string std_msgs/String 'test'" /> | ||
| <node pkg="rostopic" type="rostopic" name="string_pub2" | ||
| args="pub -r 200 /test_string2 std_msgs/String 'test2'" /> | ||
| <node pkg="rostopic" type="rostopic" name="string_pub3" | ||
| args="pub -r 200 /test_string3 std_msgs/String 'test3'" /> | ||
| <node pkg="tf" type="static_transform_publisher" | ||
| name="tf_test" args="1 0 0 0 0 0 1 world base_link 100" /> | ||
| <!--<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > | ||
| <param name="video_device" value="/dev/video0" /> | ||
| <param name="image_width" value="640" /> | ||
| <param name="image_height" value="480" /> | ||
| <param name="pixel_format" value="yuyv" /> | ||
| <param name="camera_frame_id" value="usb_cam" /> | ||
| <param name="io_method" value="mmap"/> | ||
| </node>--> | ||
| <!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> --> | ||
| <!-- <remap from="image" to="/qux/usb_cam/image_raw"/> --> | ||
| <!-- <param name="autosize" value="true" /> --> | ||
| <!-- </node> --> | ||
|
|
||
| </launch> |