hero.launch

<launch>
	<group ns='motors'>
		<node name="PUR" pkg="hero" type="motor_controller.py">
			<rosparam param='pins'>[4, 5]</rosparam>
			<rosparam param='limits'>[0, 1024]</rosparam>
			<param name='threshold' value='5'/>
			<rosparam param='voltages'>[1.5, 1.5]</rosparam>

		</node>
		<node name="LARM" pkg="hero" type="motor_controller.py">
			<rosparam param='pins'>[2, 3]</rosparam>
			<rosparam param='limits'>[430, 800]</rosparam>
			<param name='threshold' value='15'/>
			<rosparam param='voltages'>[2.5, 5]</rosparam>
 		</node>
		<node name="RARM" pkg="hero" type="motor_controller.py">
			<rosparam param='pins'>[1, 0]</rosparam>
			<rosparam param='limits'>[430, 830]</rosparam>
			<param name='threshold' value='15'/>
			<rosparam param='voltages'>[2.5, 5]</rosparam>
		</node>
		<node name="NECK" pkg="hero" type="motor_controller.py">
			<rosparam param='pins'>[6, 7]</rosparam>
			<rosparam param='limits'>[765, 1300]</rosparam>
			<param name='threshold' value='15'/>
			<rosparam param='voltages'>[2, 3]</rosparam>
		</node>
		<node name="BLINK" pkg="hero" type="motor_controller.py">
			<rosparam param='pins'>[8, 9]</rosparam>
			<rosparam param='limits'>[480, 1100]</rosparam>
			<param name='threshold' value='30'/>
			<rosparam param='voltages'>[2, 2.5]</rosparam>
		</node>
	</group>

	<group ns='sensors'>
		<node name="analog" pkg="hero" type="analog_poller.py" />
		<node name="CAPSENSE" pkg="hero" type="capsense_poller.py" />
	</group>


	<!-- node name='test' pkg='hero' type='test_node.py' output='screen' / -->
	<node name="INTERPRETER" pkg="hero" type="nn_interpreter.py" />
	<node name="BRAIN" pkg="hero" type="mens.py" />
	<node name="BLINK_GEN" pkg="hero" type="blink_generator.py" />
	<node name="RANDOM" pkg="hero" type="random_movements.py" />

</launch>