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Add use_rcb4 option for wheeled kxr #36

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merged 1 commit into from
Feb 12, 2024
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Add use_rcb4 option for wheeled kxr #36

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2 changes: 2 additions & 0 deletions ros/kxr_controller/launch/kxr_controller_for_wheel.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,12 @@

<arg name="urdf_path" default="$(find kxr_models)/urdf/kxrmw4a6h2m.urdf" />
<arg name="servo_config_path" default="$(find kxr_models)/config/kxrmw4a6h2m_servo_config.yaml" />
<arg name="use_rcb4" default="false" doc="Flag to use RCB4 mini board"/>

<include file="$(find kxr_controller)/launch/kxr_controller.launch" >
<arg name="urdf_path" value="$(arg urdf_path)" />
<arg name="servo_config_path" value="$(arg servo_config_path)" />
<arg name="use_rcb4" value="$(arg use_rcb4)" />
</include>

<include file="$(find kxr_controller)/launch/diff_drive_controller.launch" />
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