oscillation_ctrl/launch/oscillation_damp.launch

<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
  <arg name="model" default="headless_spiri_with_tether"/>
  <arg name="test" default="none"/>

  <group ns="sim">
  	<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
  </group>

  <group ns="status">
  	<param name="test_type" value="$(arg test)"/>
  </group>



	<!-- LOCALIZES DRONE & DETERMINES LOAD ANGLES -->
	<node
		pkg="oscillation_ctrl"
		type="LinkState.py"
		name="linkStates_node"
		launch-prefix="xterm -e"
	/>
	<!-- DETERMINES DESIRED POSITION -->
	<node
		pkg="oscillation_ctrl"
		type="wpoint_tracker.py"
		name="waypoints_server"
	/>
	<!-- CREATES DESIRED TRAJECTORY/ REFERENCE SIGNAL -->
	<node
		pkg="oscillation_ctrl"
		type="ref_signalGen.py"
		name="refSignal_node"
	/>
	<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
	<node
		pkg="oscillation_ctrl"
		type="klausen_control.py"
		name="klausenCtrl_node"
		output="screen"
	/>
	<!-- PUBLISHES DESIRED COMMANDS -->
	<node
		pkg="oscillation_ctrl"
		type="pathFollow_node"
		name="pathFollow_node"
		launch-prefix="xterm -e"
	/>
	
	<!-- RUNS DIFFERENT TESTS IF DESIRED -->
	<group if="$(eval test != 'none')">
		<node
			pkg="oscillation_ctrl"
			type="perform_test.py"
			name="test_node"
			launch-prefix="xterm -e"
		/>
	</group>
	<!-- PX4 LAUNCH -->
	<include file="$(find oscillation_ctrl)/launch/$(arg model).launch"/>
</launch>