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vesc/vesc_ackermann/launch/ackermann_to_vesc_nodelet.launch
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<!-- -*- mode: XML -*- --> | |
<launch> | |
<arg name="start_manager" default="true" /> | |
<arg name="manager" default="vesc_nodelet_manager" /> | |
<!-- Optionally launch manager in GDB, for debugging --> | |
<arg name="debug" default="false" /> | |
<arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" /> | |
<arg unless="$(arg debug)" name="launch_prefix" value="" /> | |
<!-- Worker threads --> | |
<arg name="num_worker_threads" default="4" /> | |
<!-- Also globally disable bond heartbeat timeout in debug mode, so everything | |
doesn't die when you hit a break point --> | |
<param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" /> | |
<!-- Nodelet manager --> | |
<node if="$(arg start_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" | |
args="manager" output="screen" launch-prefix="$(arg launch_prefix)"> | |
<param name="num_worker_threads" value="$(arg num_worker_threads)" /> | |
</node> | |
<!-- Ackermann to VESC nodelet --> | |
<node pkg="nodelet" type="nodelet" name="ackermann_to_vesc_nodelet" | |
args="load vesc_ackermann::AckermannToVescNodelet $(arg manager)" > | |
</node> | |
</launch> |