leo_bringup chooses the motor configuration based on the
LEO_MOTORS environment variable (by default, it is
buehler). To change it to
pololu, edit the
/etc/ros/setup.bash file (for example with
sudo nano) by adding this line:
Also, make sure you have the latest version of
sudo apt update
sudo apt install --upgrade ros-kinetic-leo-bringup
To apply the changes, you have to restart the
sudo systemctl restart leo
This should set new parameters to the Parameter Server. Now, when you reset the board:
rostopic pub /core2/reset_board std_msgs/Empty
the firmware should load new parameters.
Another option is to build the leo_bringup package yourself and edit the parameters in YAML files located under the config/ directory. You can follow the Building additional ROS packages section of ROS Development tutorial for this.