Configurable robo_explorer

[ros_roboint.git] / explorer_configuration.launch

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index f9e4302caeef3fdaadf927bf25f4fc5207d2e7ca..71d23bdfb1d20302c2ef239798927a77f1feea46 100644 (file)
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,9 +1,13 @@
 <launch>
        <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
-               <param name="odom_param" value="param_value" />
        </node>
 
        <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
-               <param name="sensor_param" value="param_value" />
+               <!-- fake laser scan with ultra sonic range finder -->
+               <param name="ultrasonic_laser" value="1" />
+               <!-- Distance between both wheels in meter (18.8cm) -->
+               <param name="wheel_dist" value="0.188" />
+               <!-- Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm -->
+               <param name="wheel_size" value="0.0255" />
        </node>
 </launch>