Add ROS params to launch file

motors_control_card/launch/mccd.launch

@@ -4,11 +4,17 @@
     <arg name="baud" default="115200"/>
 
     <node name="mccd" pkg="rosserial_python" type="serial_node.py" output="screen">
-        <rosparam param="left_motor_gains">[3.285, 64.40766, 0.0]</rosparam>
-        <rosparam param="right_motor_gains">[3.240, 66.48427, 0.0]</rosparam>
-
         <param name="port" type="string" value="$(arg port)"/>
         <param name="baud" type="int" value="$(arg baud)"/>
+
+        <param name="sampling_period" type="int">20</param>        <!-- ms -->
+        <param name="speed_profile/linear_speed_acceleration_max" type="float">0.8</param>        <!-- m.s^-2 -->
+        <param name="speed_profile/linear_speed_deceleration_max" type="float">0.8</param>        <!-- m.s^-2 -->
+        <param name="speed_profile/angular_speed_acceleration_max" type="float">3.14</param>        <!-- rad.s^-2 -->
+        <param name="speed_profile/angular_speed_deceleration_max" type="float">3.14</param>        <!-- rad.s^-2 -->
+
+        <rosparam param="left_motor_gains">[3.285, 64.40766, 0.0]</rosparam>
+        <rosparam param="right_motor_gains">[3.240, 66.48427, 0.0]</rosparam>
     </node>
 
 </launch>