Launch File Definition

<launch>

  <arg name="coverage" default="false"/>

  <node name="clothesline_obstacle_detector"
        pkg="obstacle_detector"
        type="clothesline_obstacle_detector"
        respawn="true"
        unless="$(arg coverage)">
  </node>

  <node name="clothesline_obstacle_detector"
        pkg="obstacle_detector"
        type="clothesline_obstacle_detector_cov"
        respawn="true"
        if="$(arg coverage)">
        <param name="duration" type="double" value="3"/>
  </node>

</launch>

Arguments

coverage

for distinguising testing verses normal operation of the node

Parameters

duration

For shortening the duration over which the obstacle_detector looks at triggers (wheeldrop, tilt, and motor stall) during testing to make tests run faster

ROS Node

clothesline_obstacle_detector