Multi-robot setup #116
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Multi-robot setup #116
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hello-binit
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Oct 7, 2023
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Hi @tenny-yinyijun, thank you for opening this pull request! I think this will be very helpful to those looking to run multi-robot experiments. I've left some feedback below. Let me know if you have any questions about it. If it would help to go through it on a video call, I'd be happy to meet with you.
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| <remap from="cmd_vel" to="/stretch_defaultname/cmd_vel" /> | ||
| <remap from="joint_states" to="/stretch_defaultname/joint_states" /> |
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Instead of remapping these topics in this launch file, we'll move the remapping inside the stretch_driver node. We'll delve into this in the next revision.
| @@ -9,7 +9,7 @@ | |||
| type="joint_state_publisher" > | |||
| <param name="rate" value="30.0"/> | |||
| <rosparam param="source_list"> | |||
| [/stretch/joint_states] | |||
| [stretch_defaultname/joint_states] | |||
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Instead of changing the rosparam in this launch file, we'll move it inside the stretch_driver node. We'll delve into this in the next revision.
Co-authored-by: Janna Lin <[email protected]>
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Hello, this is Janna and Tenny! Here are the changes we made for the multi-robot setup. In our version:
We combined these changes in the same stretch_ros package, so the users need to change stretch_ros on the computer and robot separately as mentioned above. Thank you!