add arguments

AshisGhosh · Jan 23, 2019 · ab64859 · ab64859
1 parent c4311de
commit ab64859
Showing 1 changed file with 8 additions and 4 deletions.
diff --git a/dynamixel_workbench_controllers/launch/dynamixel_controllers.launch b/dynamixel_workbench_controllers/launch/dynamixel_controllers.launch
@@ -3,18 +3,22 @@
   <arg name="dxl_baud_rate"           default="57600"/>
   <arg name="namespace"               default="dynamixel_workbench"/>
 
+  <arg name="use_moveit"              default="false"/>
+  <arg name="use_joint_state"         default="true"/>
+  <arg name="use_cmd_vel"             default="false"/>
+
   <param name="dynamixel_info"          value="$(find dynamixel_workbench_controllers)/config/basic.yaml"/>
 
   <node name="$(arg namespace)" pkg="dynamixel_workbench_controllers" type="dynamixel_workbench_controllers"
         required="true" output="screen" args="$(arg usb_port) $(arg dxl_baud_rate)">
+    <param name="use_moveit"              value="$(arg use_moveit)"/>
+    <param name="use_joint_states_topic"  value="$(arg use_joint_state)"/>
+    <param name="use_cmd_vel_topic"       value="$(arg use_cmd_vel)"/>
     <rosparam>
       publish_period: 0.010
       dxl_read_period: 0.010
       dxl_write_period: 0.010
-      use_moveit: false
-      use_joint_states_topic: true
-      use_cmd_vel_topic: false
-      mobile_robot_config:                <!--this values will be set when 'use_cmd_vel_topic' is true-->
+      mobile_robot_config:                <!--this values will be set when 'use_cmd_vel' is true-->
         seperation_between_wheels: 0.160  <!--default value is set by reference of TB3-->
         radius_of_wheel: 0.033            <!--default value is set by reference of TB3-->
     </rosparam>