driver.launch

<launch>
  <arg name="credential_config" default="/var/lib/robot/credentials/spot_credential.yaml" />
  <arg name="launch_robot_state_publisher" default="true" />

  <group if="$(arg launch_robot_state_publisher)">
    <param
      name="robot_description"
      command="$(find xacro)/xacro $(find jsk_spot_description)/robots/jsk_spot.urdf.xacro --inorder" 
      />
    <node
      name="robot_state_publisher"
      pkg="robot_state_publisher"
      type="robot_state_publisher"
      />
  </group>

  <node
      pkg="spot_driver"
      type="spot_ros"
      name="spot_ros"
      ns="spot"
      output="screen"
      respawn="true"
      >
    <rosparam file="$(find spot_driver)/config/spot_ros.yaml" command="load" />
    <rosparam>
        rates:
            robot_state: 20.0
            metrics: 0.04
            lease: 1.0
            front_image: 10.0
            side_image: 10.0
            rear_image: 10.0
        auto_claim: True
        auto_power_on: False
        auto_stand: False
    </rosparam>
    <rosparam file="$(arg credential_config)" command="load" />
    <remap from="joint_states" to="/joint_states"/>
    <remap from="tf" to="/tf"/>
  </node>

  <node name="cmd_vel_smoother" pkg="cmd_vel_smoother" type="cmd_vel_smoother">
    <remap from="input" to="spot/cmd_vel_unsmoothed" />
    <remap from="output" to="spot/cmd_vel" />

    <param name="desired_rate" value="10.0" />
    <param name="x_acc_lim" value="1.0" />
    <param name="y_acc_lim" value="0.5" />
    <param name="yaw_acc_lim" value="0.1" />
    <param name="decel_factor" value="0.8" />
    <param name="max_count" value="5" />
  </node>

  <node
      pkg="twist_mux"
      type="twist_mux"
      name="twist_mux"
      >
    <rosparam command="load" file="$(find jsk_spot_startup)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="spot/cmd_vel_unsmoothed"/>
  </node>

  <node
      pkg="laptop_battery_monitor"
      type="laptop_battery.py"
      name="laptop_battery"
      >
  </node>

  <node
      pkg="jsk_spot_startup"
      type="battery_visualizer.py"
      name="battery_visualizer"
      />

  <node
      pkg="jsk_spot_startup"
      type="laptop_battery_visualizer.py"
      name="laptop_battery_visualizer"
      />

  <node
      pkg="jsk_spot_startup"
      type="cable_connection_detector.py"
      name="cable_connection_detector"
      >
  </node>

  <node
      pkg="jsk_spot_startup"
      type="battery_notifier.py"
      name="battery_notifier"
      >
      <remap from="~start_app" to="/robot/start_app" />
  </node>

</launch>