Updating a Launch file to look at a Publisher

asked 2017-01-04 14:49:29 -0500

burf2000
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updated 2017-01-05 07:14:22 -0500

I am trying to get Lidar (Neato) and mapping (Hector) working together, this has been done here https://github.com/njzhangyifei/xv11-...

I have got this working but the launch file looks directly at the USB port ( https://github.com/njzhangyifei/xv11-... )

<node pkg="xv_11_laser_driver" type="neato_laser_publisher" name="xv_11_node">
    <!--<param name="port" value="/dev/tty.usbserial-A9UXLBBR"/>-->
    <param name="port" value="/dev/tty.LIDAR-DevB"/>
    <param name="firmware_version" value="2"/>
    <param name="frame_id" value="laser"/>
  </node>

However I now have my Lidar working on my robot and running ROS (RVIZ) on my Desktop and so the port is on a different machine (ROS_MASTER_URI is all setup)

How do I update the Launch file to look at the remote robot for the Lidar Node?

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Yes thats what I thought but how can I update the Launch file to point at the Lidar node on the robot instead of the settings listed

burf2000 ( 2017-01-05 02:08:11 -0500 )edit

Comment out line 11 ( https://github.com/njzhangyifei/xv11-... ), then roslaunch this file on the robot. On the desktop, run this: "rosrun rviz rviz -d rviz_cfg.rviz".

clyde ( 2017-01-05 11:27:39 -0500 )edit

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Updating a Launch file to look at a Publisher

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