ROS-Thymio: thymio_description reference
========================================

Launch files
------------

.. _model.launch:

model.launch[.py for ROS2]
~~~~~~~~~~~~~~~~~~~~~~~~~~

Uses ``xacro`` to generate the model and then launches ``robot_state_publisher``

Arguments
^^^^^^^^^

name
"""""

:Type: string
:Default: ``""``

proximity_max_range
"""""""""""""""""""

:Type: float
:Default: ``0.12``

proximity_resolution
"""""""""""""""""""""

:Type: float
:Default: ``0.005``

proximity_fov
""""""""""""""

:Type: float
:Default: ``0.3``


publish_ground_truth
""""""""""""""""""""

:Type: boolean
:Default: ``False``

ground_truth_frame_id
"""""""""""""""""""""

:Type: string
:Default: ``"/world"``

ground_truth_frame_rate
""""""""""""""""""""""""

:Type: float
:Default: ``30.0``

odom_rate
""""""""""""""""""""""""

:Type: float
:Default: ``20.0``


rviz.launch[.py for ROS2]
~~~~~~~~~~~~~~~~~~~~~~~~~~

Generate an rviz configuration dynamically and launches rviz.

Arguments
^^^^^^^^^

name
"""""

:Type: string
:Default: ``""``