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<!--
Launcher for differential drive wheel odometry.
Change the encoder serial numbers as needed. The serial numbers can be viewed by running:
rosrun phidgets manager
This requires:
2 x Phidgets high speed encoder
A known number of encoder counts per millimetre of travel for each wheel
-->
<launch>
<!-- Machine settings. See http://www.ros.org/wiki/roslaunch/XML/machine -->
<machine name="local_alt" address="localhost" default="true" />
<!-- phidgets high speed encoders -->
<node pkg="phidgets" type="high_speed_encoder" name="encoder_left" respawn="true">
<!-- phidget device serial number for the left encoder -->
<param name="serial" value="52980" />
</node>
<node pkg="phidgets" type="high_speed_encoder" name="encoder_right" respawn="true">
<!-- phidget device serial number for the right encoder -->
<param name="serial" value="54104" />
</node>
<!-- odometry -->
<node pkg="phidgets" type="odometry" name="odometry" respawn="true" output="screen">
<!-- phidget device serial numbers for the left and right encoders -->
<param name="serialleft" value="52980" />
<param name="serialright" value="54104" />
<!-- separation between the two wheels in millimetres -->
<param name="wheelbase" value="400" />
<!-- number of encoder counts per millimetre for the left wheel -->
<param name="countspermmleft" value="100" />
<!-- number of encoder counts per millimetre for the right wheel -->
<param name="countspermmright" value="100" />
<!-- whether to show additional info -->
<param name="verbose" value="true" />
</node>
</launch>
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