mise à jour fichier

pid_calibration/launch/calibration_zigler_nichols.launch

 <launch>
 
-    <machine name="lagalere" address="lagalere.local" env-loader="/home/lagalere/ros_ws/env_loader.sh" default="false" user="lagalere" />
-    <machine name="local" address="localhost" default="true" />
+    <arg name="mccd_port" default="/dev/ttyACM_STM"/>
+    <arg name="mccd_baud" default="115200"/>
 
-    <arg name="port" default="/dev/mccd"/>
-    <arg name="baud" default="115200"/>
-
-    <node machine="lagalere" name="mccd" pkg="rosserial_python" type="serial_node.py" output="screen" respawn="true">
-        <param name="port" type="string" value="$(arg port)"/>
-        <param name="baud" type="int" value="$(arg baud)"/>
+    <node name="mccd" pkg="rosserial_python" type="serial_node.py" output="screen" respawn="true">
+        <param name="port" type="string" value="$(arg mccd_port)"/>
+        <param name="baud" type="int" value="$(arg mccd_baud)"/>
         <param name="sampling_period" type="int" value="20"/>
         <!-- Set large value for acceleration max not to impact pid calibration with speed profile -->
         <param name="speed_profile/linear_speed_acceleration_max" type="double" value="999999"/>
@@ -17,7 +14,7 @@
         <param name="speed_profile/angular_speed_deceleration_max" type="double" value="999999"/>
     </node>
 
-    <node machine="local" name="calibration_ziegler_nichols" pkg="pid_calibration" type="ziegler_nichols.py" output="screen" />
-    <node machine="local" name="rqt_calibration" pkg="pid_calibration" type="rqt_delayed_node.py" output="screen" />
-    <node machine="local" name="rosbag_record_speed" pkg="rosbag" type="record" args="record -o speed_record /cmd_vel /mccd/odom"/>
+    <node name="calibration_ziegler_nichols" pkg="pid_calibration" type="ziegler_nichols.py" output="screen" />
+    <node name="rqt_calibration" pkg="pid_calibration" type="rqt_delayed_node.py" output="screen" />
+    <node name="rosbag_record_speed" pkg="rosbag" type="record" args="record -o speed_record /cmd_vel /mccd/odom"/>
 </launch>