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In general, take a look at the XML spec for roslaunch files: http://ros.org/wiki/roslaunch/XML

For your specific case, you'll want <node> tags that specify a name, and parameter tags for the serial numbers. Something like:

<node pkg="pololu_smc_driver" type="smc_driver_node" name="r_controller>
    <param name="smc_serial" value="3800-6F06-3055-3932-7560-0343"/>
</node>

Along with a similar <node> tag for your left motor controller.

In general, take a look at the XML spec for roslaunch files: http://ros.org/wiki/roslaunch/XML

For your specific case, you'll want <node> tags that specify a name, and parameter tags for the serial numbers. Something like:

<node pkg="pololu_smc_driver" type="smc_driver_node" name="r_controller>
name="r_controller">
    <param name="smc_serial" value="3800-6F06-3055-3932-7560-0343"/>
</node>

Along with a similar <node> tag for your left motor controller.

In general, take a look at the XML spec for roslaunch files: http://ros.org/wiki/roslaunch/XML

For your specific case, you'll want <node> tags that specify a name, and parameter tags for the serial numbers. Something like:

<launch>
    <node pkg="pololu_smc_driver" type="smc_driver_node" name="r_controller">
     <param name="smc_serial" value="3800-6F06-3055-3932-7560-0343"/>
 </node>
</launch>

Along with a similar <node> tag for your left motor controller.