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Fixed README and solo launch file

This commit is contained in:
py-humanitas 2017-06-19 16:16:57 -04:00
parent 3d20b3b9e9
commit 7d3e844f6c
1 changed files with 9 additions and 8 deletions
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17
launch/rosbuzz-solo.launch
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@ -1,14 +1,14 @@
<launch>
<!-- RUN mavros -->
<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
<arg name="fcu_url" default="/dev/ttyS0:115200" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<include file="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/node.launch">
<arg name="pluginlists_yaml" value="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/apm_config.yaml" />
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
@ -36,13 +36,14 @@
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
<param name="USB_port" type="str" value="/dev/ttyUSB0" />
<param name="Baud_rate" type="double" value="230400" />
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/testflockfev.bzz" />
<rosparam file="$(find rosbuzz)/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
@ -50,7 +51,7 @@
<param name="xbee_status_srv" value="xbee_status"/>
<param name="xbee_plugged" value="true"/>
<param name="name" value="solos1"/>
<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/stand_by.bzz"/>
<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
</node>
</launch>