60 lines
2.6 KiB
XML
60 lines
2.6 KiB
XML
<launch>
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<group ns="gps">
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<!-- NavSat Serial -->
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<node pkg="nmea_comms" type="serial_node" name="nmea_serial_node" output="screen">
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<param name="port" value="$(optenv HUSKY_NAVSAT_PORT /dev/clearpath/gps)" />
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<param name="baud" value="$(optenv HUSKY_NAVSAT_BAUD 19200)" />
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</node>
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<!-- NavSat Processing -->
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<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver">
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</node>
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</group>
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<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" >
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<rosparam>
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magnetic_declination_radians: 0
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roll_offset: 0
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pitch_offset: 0
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yaw_offset: 0
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zero_altitude: false
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broadcast_utm_transform: false
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</rosparam>
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</node>
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<!-- run xbee>
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
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<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
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<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
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<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" / -->
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<!-- xmee_mav Drone type and Commununication Mode -->
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<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
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<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
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<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
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<!-- xmee_mav Topics and Services Names -->
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<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
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<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
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<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
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<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
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<node pkg="dji_sdk_mistlab" type="dji_sdk_mav" name="dji_sdk_mav" output="screen"/>
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<!-- run rosbuzz -->
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="$(find rosbuzz)/launch/launch_config/husky.yaml"/>
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<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="buzzcmd" />
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<param name="in_payload" value="inMavlink"/>
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<param name="out_payload" value="outMavlink"/>
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<param name="xbee_status_srv" value="xbee_status"/>
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<param name="xbee_plugged" value="true"/>
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<param name="name" value="husky1"/>
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<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
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</node>
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</launch>
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