63 lines
1.8 KiB
Plaintext
63 lines
1.8 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<!--
|
||
|
|
Launch file to use klausen oscillaton damping ctrl in Gazebo
|
||
|
|
/-->
|
||
|
|
<launch>
|
||
|
|
<arg name="mav_name" default="spiri"/>
|
||
|
|
<arg name="command_input" default="1" />
|
||
|
|
<arg name="log_output" default="screen" />
|
||
|
|
<arg name="fcu_protocol" default="v2.0" />
|
||
|
|
<arg name="respawn_mavros" default="false" />
|
||
|
|
<arg name="gazebo_gui" default="false" />
|
||
|
|
<arg name="test_type" default="step.py" />
|
||
|
|
|
||
|
|
<group ns="sim">
|
||
|
|
<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
|
||
|
|
</group>
|
||
|
|
|
||
|
|
<node
|
||
|
|
pkg="oscillation_ctrl"
|
||
|
|
type="LinkState.py"
|
||
|
|
name="linkStates_node"
|
||
|
|
launch-prefix="xterm -e"
|
||
|
|
/>
|
||
|
|
<node
|
||
|
|
pkg="oscillation_ctrl"
|
||
|
|
type="ref_signalGen.py"
|
||
|
|
name="refSignal_node"
|
||
|
|
/>
|
||
|
|
<node
|
||
|
|
pkg="oscillation_ctrl"
|
||
|
|
type="klausen_control.py"
|
||
|
|
name="klausenCtrl_node"
|
||
|
|
output="screen"
|
||
|
|
|
||
|
|
/>
|
||
|
|
<node
|
||
|
|
pkg="oscillation_ctrl"
|
||
|
|
type="pathFollow_node"
|
||
|
|
name="pathFollow_node"
|
||
|
|
launch-prefix="xterm -e"
|
||
|
|
/>
|
||
|
|
|
||
|
|
<node
|
||
|
|
pkg="oscillation_ctrl"
|
||
|
|
type="$(arg test_type)"
|
||
|
|
name="test_node"
|
||
|
|
launch-prefix="xterm -e"
|
||
|
|
/>
|
||
|
|
<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
|
||
|
|
<param name="mav_name" type="string" value="$(arg mav_name)" />
|
||
|
|
<!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/-->
|
||
|
|
<param name="ctrl_mode" value="$(arg command_input)" />
|
||
|
|
<param name="max_acc" value="8.0" />
|
||
|
|
<param name="Kp_x" value="8.0" />
|
||
|
|
<param name="Kp_y" value="8.0" />
|
||
|
|
<param name="Kp_z" value="10.0" />
|
||
|
|
<param name="Kv_x" value="3.0" />
|
||
|
|
<param name="Kv_y" value="3.0" />
|
||
|
|
<param name="Kv_z" value="6.0" />
|
||
|
|
</node>
|
||
|
|
<!-- PX4 LAUNCH -->
|
||
|
|
<include file="$(find px4)/launch/spiri_with_tether.launch"/>
|
||
|
|
</launch>
|