add set_rate service to X500 UAV (#906)

* added feedforward to bridge, controller msgs are now printed only once * added set_rate services to laser, rgb, rgbd sensors
osrf · Apr 26, 2021 · f4ce7ca · f4ce7ca
1 parent cd57ca8
commit f4ce7ca
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
@@ -129,6 +129,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_rgbd_up_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_up/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--DOWN RGBD camera -->
@@ -186,6 +191,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_rgbd_down_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_down/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--Front RGB camera -->
@@ -213,6 +223,11 @@
       <remap from="input/camera_info" to="front/camera_info" />
       <remap from="output/camera_info" to="front/optical/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_front_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/camera_front/image/set_rate" />
+        <arg name="ros_service" value="camera_front/set_rate" />
+      </include>
     </group>
 
     <!-- 3D lidar -->
@@ -224,6 +239,11 @@
         args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
         <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_front_laser_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
+        <arg name="ros_service" value="front_laser/set_rate" />
+      </include>
     </group>
 
     <!-- UAV -->