Additional Configuration and Package Launching

Topic names Setup:

If the default topic names provided needs to be changed, use the file asl_gremlin_pkg/asl_gremlin_pkg/config/topic_names.yaml to change the topic names. For example, if the topic name of the reference trajectory generated by trajectory_generator_node needs to be published under topic /trajectory/reference, then this can be achieved by simply changing the following

trajectory:
    publisher_topic: trajectory_generation/reference_trajectory

to

trajectory:
    publisher_topic: trajectory/reference

Note: Don't hardcode the topic names in a node file. If you do make sure to change the necessary topic names in other nodes or header files as well. And also don't put '/' in front of the parameter value.

Launching Package:

In order to launch the package, use the launch file asl_gremlin_pkg/asl_gremlin_pkg/launch/launch_asl_gremlin.launch. The launch file expects two parameters,

• Arduino-port number
• Robot name (or) Namespace

roslaunch asl_gremlin_pkg launch_asl_gremlin.launch arduino_port:=<arduino-port> robot_name:=<robot_name>

For example if Arduino is connected to port /dev/ttyACM0 and the robot name that was set as in section Namespace-setup is asl_gremlin then

roslaunch asl_gremlin_pkg launch_asl_gremlin.launch arduino_port:=/dev/ttyACM0 robot_name:=asl_gremlin

Note: The <robot_name> should be same as what was set in Namespace-setup

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