19 lines
757 B
Python
Executable File
19 lines
757 B
Python
Executable File
#!/usr/bin/env python
|
|
|
|
PACKAGE = 'ros_kinematics'
|
|
|
|
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t
|
|
|
|
gen = ParameterGenerator()
|
|
|
|
# Kinematic parameters related
|
|
gen.add("left_wheel_radius_multiplier", double_t, 0, "Left wheel radius multiplier.", 1.0, 0.5, 1.5)
|
|
gen.add("right_wheel_radius_multiplier", double_t, 0, "Right wheel radius multiplier.", 1.0, 0.5, 1.5)
|
|
gen.add("wheel_separation_multiplier", double_t, 0, "Wheel separation multiplier.", 1.0, 0.5, 1.5)
|
|
|
|
# Publication related
|
|
gen.add("publish_rate", double_t, 0, "Publish rate of odom.", 50.0, 0.0, 2000.0)
|
|
gen.add("enable_odom_tf", bool_t, 0, "Publish odom frame to tf.", False)
|
|
|
|
exit(gen.generate(PACKAGE, "ros_kinematics", "DiffDriveParameters"))
|