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Delete 'launch/mocap_oscillation_damp.launch'

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cesar.alejandro 2022-09-16 08:14:59 -07:00
parent bd8e75888d
commit 10ff6a57fd
1 changed files with 0 additions and 88 deletions
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launch/mocap_oscillation_damp.launch
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<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
<arg name='test' default="none"/>
<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="fcu_url" default="udp://:14549@192.168.1.91:14554"/>
<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
<arg name="connection_type" default="wifi"/>
<group ns="status">
<rosparam file="$(find oscillation_ctrl)/config/mocapLab_params.yaml" />
<param name="test_type" value="$(arg test)"/>
</group>
<!-- LOCALIZES DRONE & DETERMINES LOAD ANGLES -->
<node
pkg="oscillation_ctrl"
type="Mocap_Bridge.py"
name="localize_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"
launch-prefix="xterm -e"
/>
<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
<node
pkg="oscillation_ctrl"
type="klausen_control.py"
name="klausenCtrl_node"
launch-prefix="xterm -e"
output='screen'
/>
<!-- PUBLISHES DESIRED COMMANDS -->
<node
pkg="oscillation_ctrl"
type="mocap_pathFollow_node"
name="mocap_pathFollow_node"
launch-prefix="xterm -e"
/>
<!-- RUNS DIFFERENT TESTS IF DESIRED -->
<group if="$(eval test != 'none')">
<node
pkg="oscillation_ctrl"
type="perform_test.py"
name="test_node"
launch-prefix="xterm -e"
/>
</group>
<!-- RUNS TEST -->
<node
pkg="oscillation_ctrl"
type="mocap_runTest.py"
name="mocap_Test"
launch-prefix="xterm -e"
/>
<!-- Cortex bridge launch -->
<include file="$(find cortex_bridge)/launch/cortex_bridge.launch">
<!--param name="local_ip" value="$(param local_ip)" /-->
</include>
<!-- MAVROS launch -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="pluginlists_yaml" value="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find oscillation_ctrl)/config/px4_config.yaml" />
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
</include>
</launch>