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update bring.launch (include servo launch file) #41

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merged 1 commit into from
Aug 26, 2023
Merged

update bring.launch (include servo launch file) #41

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8 changes: 7 additions & 1 deletion yacyac_bringup/launch/robot_description.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@


def generate_launch_description():
# s2lidar package
# g2lidar package
g2lidar_prefix = get_package_share_directory("ydlidar_ros2_driver")
start_g2lidar_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(g2lidar_prefix, "launch", "ydlidar_launch.py"))
Expand All @@ -26,6 +26,11 @@ def generate_launch_description():
PythonLaunchDescriptionSource(os.path.join(yacyac_camera_prefix, "launch", "camera.launch.py"))
)

yacyac_servo_prefix = get_package_share_directory("yacyac_servo")
start_yacyac_servo_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(yacyac_servo_prefix, "launch", "yacyac_servo.launch.py"))
)



# # rosbridge websocket cmd
Expand Down Expand Up @@ -77,6 +82,7 @@ def generate_launch_description():
start_yacyac_cmd,
start_web_bridge_cmd,
start_yacyac_camera_cmd,
start_yacyac_servo_cmd,

Node(
package="yacyac_io",
Expand Down
4 changes: 2 additions & 2 deletions yacyac_servo/launch/yacyac_servo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@
def generate_launch_description():
servo_ctrl_node = Node(
package='yacyac_servo',
executable='servo_ctrl',
name='servo_ctrl_node',
executable='action_servo_ctrl',
name='action_servo_ctrl_node',
output='screen',
)
read_write_node = Node(
Expand Down