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vehicle/raw_vehicle_cmd_converter
2 files changed +3
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/** :
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ros__parameters :
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+ csv_path_accel_map : $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
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+ csv_path_brake_map : $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
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+ csv_path_steer_map : $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
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convert_accel_cmd : true
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convert_brake_cmd : true
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convert_steer_cmd : true
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<?xml version =" 1.0" ?>
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<launch >
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- <arg name =" csv_path_accel_map" default =" $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv" />
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- <arg name =" csv_path_brake_map" default =" $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv" />
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- <arg name =" csv_path_steer_map" default =" $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv" />
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-
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<arg name =" input_control_cmd" default =" /control/command/control_cmd" />
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<arg name =" input_odometry" default =" /localization/kinematic_state" />
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<arg name =" input_steering" default =" /vehicle/status/steering_status" />
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<node pkg =" raw_vehicle_cmd_converter" exec =" raw_vehicle_cmd_converter_node" name =" raw_vehicle_cmd_converter" output =" screen" >
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<param from =" $(var config_file)" allow_substs =" true" />
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- <param name =" csv_path_accel_map" value =" $(var csv_path_accel_map)" />
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- <param name =" csv_path_brake_map" value =" $(var csv_path_brake_map)" />
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- <param name =" csv_path_steer_map" value =" $(var csv_path_steer_map)" />
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<remap from =" ~/input/control_cmd" to =" $(var input_control_cmd)" />
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<remap from =" ~/input/odometry" to =" $(var input_odometry)" />
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<remap from =" ~/input/steering" to =" $(var input_steering)" />
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