segbot_sensors: separate basic arduino launch from test scaffolding (#35

)
utexas-bwi · Apr 4, 2015 · 5729a5c · 5729a5c
1 parent b34ae6b
commit 5729a5c
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Showing 2 changed files with 41 additions and 21 deletions.
diff --git a/segbot_sensors/launch/arduino/arduino.launch b/segbot_sensors/launch/arduino/arduino.launch
@@ -5,31 +5,10 @@
   <arg name="baud" default="115200" />
   <arg name="frame_id" default="sensor_base" />
   <arg name="port" default="/dev/ttyACM0" />
-  <arg name="publish_tf" default="true" />
   <arg name="tf_prefix" default="" /> 
 
   <param name="tf_prefix" value="$(arg tf_prefix)" />
 
-  <!-- Publish static transforms from each sensor to the sensor base plate.
-
-       Uses tf2_ros static transform broadcaster, because that version
-       publishes once to a latched "/tf2_static" topic.
-
-       Eventually, these transforms should be included in the URDF,
-       but this works for testing.
-  -->
-  <group if="$(arg publish_tf)">
-    <node name="sonar0_broadcaster"
-          pkg="tf2_ros" type="static_transform_publisher"
-          args="0.02 -0.095 0.016 0 0 -0.426 0.905 $(arg frame_id) sonar0" />
-    <node name="sonar1_broadcaster"
-          pkg="tf2_ros" type="static_transform_publisher"
-          args="0 0 0.016 0 0 0 1 $(arg frame_id) sonar1" />
-    <node name="sonar2_broadcaster"
-          pkg="tf2_ros" type="static_transform_publisher"
-          args="0.02 0.095 0.016 0 0 0.426 0.905 $(arg frame_id) sonar2" />
-  </group>
-
   <!-- run the Arduino interface driver -->
   <node name="arduino_driver" pkg="segbot_sensors" type="arduino_driver">
     <param name="port" value="$(arg port)" />

diff --git a/segbot_sensors/test/test_arduino.launch b/segbot_sensors/test/test_arduino.launch
@@ -0,0 +1,41 @@
+<launch>
+
+  <!-- Launch nodes for testing Arduino-attached sensors. -->
+
+  <arg name="baud" default="115200" />
+  <arg name="frame_id" default="sensor_base" />
+  <arg name="port" default="/dev/ttyACM0" />
+  <arg name="publish_tf" default="true" />
+  <arg name="tf_prefix" default="" /> 
+
+  <param name="tf_prefix" value="$(arg tf_prefix)" />
+
+  <!-- Publish static transforms from each sensor to the sensor base plate.
+
+       Uses tf2_ros static transform broadcaster, because that version
+       publishes once to a latched "/tf2_static" topic.
+
+       The correct version of these transforms are declared in the
+       URDF, but this is useful for testing.
+  -->
+  <group if="$(arg publish_tf)">
+    <node name="sonar0_broadcaster"
+          pkg="tf2_ros" type="static_transform_publisher"
+          args="0.02 -0.095 0.016 0 0 -0.426 0.905 $(arg frame_id) sonar0" />
+    <node name="sonar1_broadcaster"
+          pkg="tf2_ros" type="static_transform_publisher"
+          args="0 0 0.016 0 0 0 1 $(arg frame_id) sonar1" />
+    <node name="sonar2_broadcaster"
+          pkg="tf2_ros" type="static_transform_publisher"
+          args="0.02 0.095 0.016 0 0 0.426 0.905 $(arg frame_id) sonar2" />
+  </group>
+
+  <!-- run the Arduino interface driver and conversion nodelets -->
+  <include file="$(find segbot_sensors)/launch/arduino/arduino.launch">
+    <arg name="baud" value="$(arg baud)" />
+    <arg name="frame_id" value="$(arg frame_id)" />
+    <arg name="port" value="$(arg port)" />
+    <arg name="tf_prefix" value="$(arg tf_prefix)" />
+  </include>
+
+</launch>