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Iroiro fix #73

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merged 2 commits into from
Aug 19, 2024
Merged

Iroiro fix #73

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d193040
250残ってた
H1rono Aug 19, 2024
2cab243
fix launch file
H1rono Aug 19, 2024
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16 changes: 8 additions & 8 deletions ul/config/power_map_param.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,26 +2,26 @@
ros__parameters:
# 1
bldc_center1: 1480
bldc_negative_radius1: 250
bldc_positive_radius1: 250
bldc_negative_radius1: 150
bldc_positive_radius1: 150
servo_max1: 2400
servo_min1: 500
# 2
bldc_center2: 1480
bldc_negative_radius2: 250
bldc_positive_radius2: 250
bldc_negative_radius2: 150
bldc_positive_radius2: 150
servo_max2: 2400
servo_min2: 500
# 3
bldc_center3: 1480
bldc_negative_radius3: 250
bldc_positive_radius3: 250
bldc_negative_radius3: 150
bldc_positive_radius3: 150
servo_max3: 2400
servo_min3: 500
# 4
bldc_center4: 1480
bldc_negative_radius4: 250
bldc_positive_radius4: 250
bldc_negative_radius4: 150
bldc_positive_radius4: 150
servo_max4: 2400
servo_min4: 500
# placement
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5 changes: 4 additions & 1 deletion ul/launch/simple_joy_app_pc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,9 @@ def generate_launch_description() -> LaunchDescription:
nodes = GroupAction(
[joystick, app, power_map],
forwarding=False,
launch_configurations={"param_file": power_map_param_file},
launch_configurations={
"param_file": power_map_param_file,
"power_map_param_file": power_map_param_file,
},
)
return LaunchDescription([power_map_param_file_arg, nodes])