Skip to content

Commit

Permalink
Updates
Browse files Browse the repository at this point in the history
  • Loading branch information
umroverPerception committed Apr 20, 2024
1 parent 189b267 commit e4e59a1
Show file tree
Hide file tree
Showing 2 changed files with 15 additions and 15 deletions.
6 changes: 3 additions & 3 deletions config/esw.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -144,11 +144,11 @@ brushless_motors:
max_backward_pos: 0.0
max_torque: 20.0
joint_c:
min_velocity: -0.04 # in terms of output
max_velocity: 0.04 # max output shaft speed: 5 rpm (for now)
min_velocity: -0.03 # in terms of output
max_velocity: 0.03 # max output shaft speed: 5 rpm (for now)
min_position: -0.125
max_position: 0.30 # 220 degrees of motion is the entire range
max_torque: 20.0
max_torque: 200.0
joint_de_0:
min_velocity: -5.0
max_velocity: 5.0
Expand Down
24 changes: 12 additions & 12 deletions launch/esw_base.launch
Original file line number Diff line number Diff line change
Expand Up @@ -23,14 +23,6 @@
<param name="interface" value="can3" />
</node> -->

<!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
output="screen">
<param name="image_topic" value="/camera/left/image" />
<param name="port" value="8081" />
<param name="width" value="1280" />
<param name="height" value="720" />
</node> -->

<node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
output="screen">
<param name="device" value="/dev/video0" />
Expand All @@ -47,15 +39,23 @@
<param name="height" value="720" />
</node>

<!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2"
<node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2"
output="screen">
<param name="device" value="/dev/video4" />
<param name="port" value="8083" />
<param name="width" value="640" />
<param name="height" value="480" />
<param name="width" value="1280" />
<param name="height" value="720" />
</node>

<node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_zed"
output="screen">
<param name="image_topic" value="/camera/left/image" />
<param name="port" value="8084" />
<param name="width" value="1280" />
<param name="height" value="720" />
</node>

<node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_3"
<!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_3"
output="screen">
<param name="device" value="/dev/video6" />
<param name="port" value="8084" />
Expand Down

0 comments on commit e4e59a1

Please sign in to comment.