Merge branch 'PR/spot_arm/add-smart-device-ros' into develop/spot_arm

jsk-ros-pkg · Nov 22, 2023 · 5039b83 · 5039b83
2 parents 7e9dfe2 + 252d133
commit 5039b83
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diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/peripheral.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/peripheral.launch
@@ -1,4 +1,10 @@
 <launch>
+    <arg name="port_enr" default="/dev/ttyACM0"/>
+
+    <include file="$(find esp_now_ros)/launch/demo.launch">
+        <arg name="port" value="$(arg port_enr)"/>
+    </include>
+
     <include file="$(find jsk_perception)/sample/sample_insta360_air.launch">
         <arg name="width" value="2176"/>
         <arg name="height" value="1088"/>

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/rosbag_record.launch b/jsk_spot_robot/jsk_spot_startup/launch/rosbag_record.launch
@@ -92,6 +92,9 @@
             /spot_recognition/tracking_labels
             /ublox/fix
             /ublox/fix_velocity
+            /esp_now_ros/recv
+            /esp_now_ros/send
+            /esp_now_ros/uwb
             "
         output="screen" />
 

diff --git a/jsk_spot_robot/jsk_spot_startup/package.xml b/jsk_spot_robot/jsk_spot_startup/package.xml
@@ -50,6 +50,7 @@
 
   <exec_depend>jsk_spot_behavior_manager</exec_depend>
   <exec_depend>spot_basic_behaviors</exec_depend>
+  <exec_depend>esp_now_ros</exec_depend>
 
   <test_depend>rostest</test_depend>