autonomous_bicycle

<launch>

    <arg name="IMU_1_port" default="/dev/ttyUSB0"/>
    <arg name="respawn_enable" default="false"/>

    <!-- Publish imu 1 data
    <node pkg="autonomous_bicycle" output="screen"
          type="sensor_imu_publisher.py" name="sensor_imu_publisher_1" respawn="$(arg respawn_enable)">

        <param name="rate" type="int" value="200" />

        <rosparam param="publish_transform">True</rosparam>
        <rosparam param="static_transform">[0.0, 0.0, 1.0, 0.0, 0.0, 0.0]</rosparam>
        <rosparam param="calibration_data">[247, 255, 90, 0, 10, 0, 101, 254, 45, 0, 201, 1, 252, 255, 1, 0, 253, 255, 232, 3, 169, 2]</rosparam>
        <param name="calibration_service" type="string" value="/bicycle/calibration_imu_1" />

        <param name="serial_port" type="string" value="$(arg IMU_1_port)" />
        <param name="topic_name" type="string" value="/bicycle/imu_1" />
        <param name="calib_topic_name" type="string" value="/bicycle/imu_1_calibration" />
        <param name="fixed_frame" type="string" value="world" />
        <param name="frame_name" type="string" value="imu_1" />
    </node>
-->
    <!-- Start ros bridge server
    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
        <arg name="port" value="9090"/>
        <arg name="ssl" default="false" />
        <arg name="authenticate" default="false" />
    </include>
-->
    <!--
    <node  pkg="rosserial_python" type="serial_node.py" name="serial_node_arduino">
        <param name="port" type="string" value="/dev/ttyACM0" />
        <remap to="/bicycle/altitude"   from="/altitude" />
        <remap to="/bicycle/distance"   from="/distance" />
        <remap to="/bicycle/velocity"   from="/velocity" />
    </node>
-->
    <!-- check system state
    <node pkg="autonomous_bicycle" type="ros_state_checker.py" output="screen"
          name="ros_state_checker" respawn="$(arg respawn_enable)">
        <param name="rate" type="double" value="1.0" />
        <param name="service_turn_off_script" type="string"
               value="$(find autonomous_bicycle)/src/BASH_turn_off_system.sh" />
    </node>
    -->


    <node pkg="rosserial_python" type="serial_node.py"     name="serial_node_steering" >
        <param name="port" type="string" value="/dev/ttyACM0" />
        <remap to="/bicycle/steering_angle"   from="/steering_angle" />
    </node>

</launch>