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Oct 13th, 2011
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  1. ROBOT (name:raven)
  2. -----------
  3. <launch>
  4.  
  5. <node pkg="gpsd_client" type="gpsd_client" name="raven_gpsd_client">
  6. <param name="host" value="raven" type="string"/>
  7. <param name="port" value="2947" type="int"/>
  8. </node>
  9.  
  10. <node pkg="gps_common" type="utm_odometry_node" name="raven_gps_dom">
  11. <param name="~rot_covariance" value="9999" type="double"/>
  12. <param name="~frame_id" value="odom" type="string"/>
  13. <remap from="odom" to="raven_gps_odom" />
  14. </node>
  15.  
  16. </launch>
  17.  
  18. LAPTOP (name:uav)
  19. ---------
  20. <launch>
  21. <node pkg="gpsd_client" type="gpsd_client" name="laptop_gpsd_client">
  22. <param name="host" value="uav" type="string"/>
  23. <param name="port" value="2947" type="int"/>
  24. </node>
  25. <node pkg="gps_common" type="utm_odometry_node" name="laptop_gps_odom">
  26. <param name="~rot_covariance" value="9999" type="double"/>
  27. <param name="~frame_id" value="odom" type="string"/>
  28. <remap from="odom" to="laptop_gps_odom" />
  29. </node>
  30.  
  31. </launch>
  32.  
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