Environment Variables¶
Descriptions¶
DYNO_BASE¶
What robot base shoud be used. This applies both to simulation and real robots.
DYNO_DEFAULT_RAPP¶
What Robot App (Rapp) shoud start automaticly when you bring up a Concert Client.
roslaunch dyno_gazebo bringup.launchroslaunch dyno_bringup bringup.launchDYNO_USE_ROS_CONTROL_FOR_BASE¶
Changes whether the robot base subscribes to /mobile_base_controller/cmd_vel or uses ros_control to control the joints directly.
If set to true, a controller that translates /mobile_base_controller/cmd_vel to joint velocities is started.
Diffrent controllers are started depending on what base is used. The controllers currently used are: mecanum_controller, diff_drive_controller, four_wheel_steering_controller and tricycle_controller.
Defalut Gazebo physics with ros_control doesn’t currently work for the holonomic/omni plattform, so this variable sould be set to false when simulating theese platforms.
DYNO_JOY_TYPE¶
Type of joystick.
JOY_SERIAL_PORT¶
Serial port to use for joystick.
Values¶
| Name | Defalut Value | Optional Values |
|---|---|---|
| DYNO_BASE | turtlebot3 | omnibot, magni, holonomic, diff-drive, quadrotor |
| DYNO_DEFAULT_RAPP | dyno_common_rapps/exploration | dyno_common_rapps/waypoint_navigation |
| DYNO_USE_ROS_CONTROL_FOR_BASE | false | true |
| DYNO_JOY_TYPE | gamepad | xbox360, playstation |
| JOY_SERIAL_PORT | /dev/input/js0 | – |