[jsk_spot_startup] set publish_cmd_vel_from_quadruped_joystick_teleop…

… to publish cmd_vvel from publish_cmd_vel_from_quadruped_joystick_teleop at the rate defined in config/dualsense_teleop_twist_joy.yaml, instead of teleop_node/teleop_twist_joy
k-okada · Dec 12, 2024 · e83234b · e83234b
1 parent 0ef17fc
commit e83234b
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diff --git a/jsk_spot_robot/jsk_spot_startup/config/dualsense_teleop_twist_joy.yaml b/jsk_spot_robot/jsk_spot_startup/config/dualsense_teleop_twist_joy.yaml
@@ -15,3 +15,6 @@ scale_angular_turbo:
   yaw: 2.0
 enable_button: 4
 enable_turbo_button: 10
+# for cmd_vel
+publish_cmd_vel: true
+publish_cmd_vel_rate: 50
diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
@@ -65,6 +65,7 @@
     <arg name="dock_service" default="dock_fixed_id" />
     <arg name="tuck_service" default="stow_arm" />
     <arg name="untuck_service" default="unstow_arm" />
+    <arg name="publish_cmd_vel_from_quadruped_joystick_teleop" default="true" />
     <arg name="teleop_twist_joy_param_file" default="$(find jsk_spot_startup)/config/dualsense_teleop_twist_joy.yaml" />
   </include>