36 lines
1.3 KiB
XML
36 lines
1.3 KiB
XML
<?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="fcu_url" default="udp://:14549@192.168.1.91:14554"/>
|
|
<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
|
|
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="Mocap_Bridge.py"
|
|
name="localize_node"
|
|
launch-prefix="xterm -e"
|
|
/>
|
|
|
|
<!-- Cortex bridge launch -->
|
|
<include file="$(find cortex_bridge)/launch/cortex_bridge.launch"/>
|
|
|
|
<!-- MAVROS launch -->
|
|
<include file="$(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="$(arg fcu_protocol)" />
|
|
<!--arg name="fcu_url" value="udp://:14549@192.168.1.91:14554" />
|
|
<arg name="gcs_url" value="udp-b://127.0.0.1:14555@14550" /-->
|
|
<arg name="fcu_url" value="$(arg fcu_url)" />
|
|
<arg name="gcs_url" value="$(arg gcs_url)" />
|
|
</include>
|
|
</launch>
|