added the rqt steering node

Author: Geonhee-LEE

mpc_ros_description/launch/differential_model.launch

@@ -23,6 +23,11 @@
 
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model differential_bot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -param robot_description" />
 
+    <!-- Launch a rqt steering GUI for publishing to /steer_bot/ackermann_steering_controller/cmd_vel -->
+    <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="rqt_robot_steering" >
+        <param name="default_topic" value="/cmd_vel"/>
+    </node>
+
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
         <param name="publish_frequency" type="double" value="50.0" />
     </node>

mpc_ros_description/launch/holonomic_model.launch

@@ -21,6 +21,11 @@
     </include>
 
 
+    <!-- Launch a rqt steering GUI for publishing to /steer_bot/ackermann_steering_controller/cmd_vel -->
+    <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="rqt_robot_steering" >
+        <param name="default_topic" value="/cmd_vel"/>
+    </node>
+
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model holonomic_bot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -param robot_description" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">