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Add missing params for loopback_sim #600

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Nov 4, 2024
Merged

Add missing params for loopback_sim #600

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66 changes: 55 additions & 11 deletions configuration/packages/configuring-loopback-sim.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,9 @@ Parameters
:update_duration:

============== ==============
Type Default
Type Default
-------------- --------------
double 0.01
double 0.01
============== ==============

Description
Expand All @@ -28,9 +28,9 @@ Parameters
:base_frame_id:

============== ==============
Type Default
Type Default
-------------- --------------
string "base_link"
string "base_link"
============== ==============

Description
Expand All @@ -39,9 +39,9 @@ Parameters
:odom_frame_id:

============== ==============
Type Default
Type Default
-------------- --------------
string "odom"
string "odom"
============== ==============

Description
Expand All @@ -50,9 +50,9 @@ Parameters
:map_frame_id:

============== ==============
Type Default
Type Default
-------------- --------------
string "map"
string "map"
============== ==============

Description
Expand All @@ -61,13 +61,57 @@ Parameters
:scan_frame_id:

============== ==============
Type Default
Type Default
-------------- --------------
string "base_scan"
string "base_scan"
============== ==============

Description
The scan frame to use to publish a scan for collision monitor's happiness
The scan frame to use to publish a scan

:enable_stamped_cmd_vel:

============== ==============
Type Default
-------------- --------------
string false
============== ==============

Description
Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped)

:scan_publish_dur:

============== ==============
Type Default
-------------- --------------
string 0.1
============== ==============

Description
The duration between publishing scan (in sec)

:publish_map_odom_tf:

============== ==============
Type Default
-------------- --------------
string true
============== ==============

Description
Whether or not to publish tf from ``map_frame_id`` to ``odom_frame_id``

:publish_clock:

============== ==============
Type Default
-------------- --------------
string true
============== ==============

Description
Whether or not to publish simulated clock to ``/clock``

Example
*******
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