37 lines
1.2 KiB
XML
37 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<!--
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Launch file to use klausen oscillaton damping ctrl in Gazebo
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/-->
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<launch>
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<arg name="mav_name" default="spiri_mocap"/>
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<arg name="command_input" default="1" />
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<node
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pkg="oscillation_ctrl"
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type="MoCap_Localization_fake.py"
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name="fakeMocap_node"
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launch-prefix="xterm -e"
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/>
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<!--node
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pkg="oscillation_ctrl"
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type="offb_node"
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name="offb_node"
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launch-prefix="xterm -e"
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/-->
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<!--node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
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<param name="mav_name" type="string" value="$(arg mav_name)" />
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<!-remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/->
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<param name="ctrl_mode" value="$(arg command_input)" />
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<param name="max_acc" value="8.0" />
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<param name="Kp_x" value="8.0" />
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<param name="Kp_y" value="8.0" />
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<param name="Kp_z" value="10.0" />
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<param name="Kv_x" value="3.0" />
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<param name="Kv_y" value="3.0" />
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<param name="Kv_z" value="6.0" />
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</node-->
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<!-- PX4 LAUNCH -->
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<include file="$(find px4)/launch/headless_spiri_mocap.launch"/>
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</launch>
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