ROS Ag launch file to initiate the serial node programs to control the steering the steering motor and transmission plus read the steering angle sensor

teensy_launch.launch

<launch>
	<?ignore  - used to comment out lines
	# taking out the potentiometer because I will first use the joystick connected to the laptop as well as command line cmd_vel statements
	<node ns="potentiometer_teensy" name="potentiometer_output" pkg="rosserial_python" type="serial_node.py" args="/dev/potentiometer_control" output="screen" />

	Intial Steer Settings:
		steer_left_max = 28900;
		steer_right_max = 46300;
		steer_straight = 36500;
		max_steer_eff = 50;
		steer_Ki = 2;
		$ rosparam set /steering "[28900.0, 46300.0, 36500.0, 50.0, 2.0]"
		updates: <rosparam param="steering">[25100.1, 45800.0, 34000.0, 80.0, 3.0]</rosparam>  (previous to 3/8/20)
		updates: <rosparam param="steering">[27900.0, 45798.0, 36874.0, 50.0, 3.0]</rosparam>  (changed on 3/8/20) - not enough power
		updates: <rosparam param="steering">[27900.0, 45798.0, 36874.0, 60.0, 3.0]</rosparam>  (changed on 3/8/20) - used in garage
		4/3/20 - <rosparam param="steering">[22826.0, 45592.0, 33060.0, 60.0, 3.0]</rosparam> old
		5/21/20 - <rosparam param="steering">[24300.0, 44000.0, 34000.0, 70.0, 3.0]</rosparam> old
		old     - <rosparam param="steering">[2000.0, 30000.0, 15000.0, 50.0, 3.0]</rosparam> old
		6/7/20 - <rosparam param="steering">[-15384.0, 14938.0, 0.0, 60.0, 3.0]</rosparam>

	Intial Speed Settings:
		full_reverse = 1000;
		vel_neutral = 1290;
		full_forward = 1500;
		start_forward_nudge = 125;
		start_reverse_nudge = -100;
		Kp = 70;
		Ki = 5;
		Kd = 0;
		Ki_timeout = 20;
		$ rosparam set /speed "[1000, 1290, 1500, 125, -100, 70, 5, 0, 20]"		
	?>
	<rosparam param="steering">[-14000.0, 13500.0, 0.0, 60.0, 3.0]</rosparam>
	<rosparam param="speed">[1000.0, 1290.0, 1600.0, 135.0, -100.0, 70.0, 5.0, 0.0, 20.0]</rosparam>
	<node ns="transmission_teensy" name="transmission_cntrl" pkg="rosserial_python" type="serial_node.py" args="/dev/transmission_control" output="screen" />
	<node ns="left_speed_teensy" name="left_speed" pkg="rosserial_python" type="serial_node.py" args="/dev/odom_left" output="screen" />
	<node ns="front_angle_teensy" name="front_angle" pkg="rosserial_python" type="serial_node.py" args="/dev/front_angle" output="screen" />
	<node ns="steer_motor_teensy" name="steer_motor" pkg="rosserial_python" type="serial_node.py" args="/dev/steer_motor" output="screen" />
</launch>