61 lines
1.3 KiB
XML
61 lines
1.3 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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<group ns="status">
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<rosparam file="$(find oscillation_ctrl)/config/mocapGazebo_params.yaml" />
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</group>
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<arg name="model" default="headless_spiri"/>
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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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<!-- DETERMINES DESIRED POSITION -->
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<node
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pkg="oscillation_ctrl"
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type="wpoint_tracker.py"
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name="waypoints_server"
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/>
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<!-- CREATES DESIRED TRAJECTORY/ REFERENCE SIGNAL -->
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<node
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pkg="oscillation_ctrl"
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type="ref_signalGen.py"
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name="refSignal_node"
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/>
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<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
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<node
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pkg="oscillation_ctrl"
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type="klausen_control.py"
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name="klausenCtrl_node"
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launch-prefix="xterm -e"
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/>
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<!-- PUBLISHES DESIRED COMMANDS -->
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<node
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pkg="oscillation_ctrl"
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type="mocap_pathFollow_node"
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name="mocap_pathFollow_node"
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launch-prefix="xterm -e"
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/>
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<!-- RUNS TEST -->
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<node
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pkg="oscillation_ctrl"
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type="mocap_runTest.py"
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name="mocap_Test"
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launch-prefix="xterm -e"
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/>
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<!-- SETS PLOAD MASS -->
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<node
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pkg="oscillation_ctrl"
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type="set_ploadmass.py"
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name="set_ploadmass"
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output="screen"
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/>
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<!-- PX4 LAUNCH -->
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<include file="$(find oscillation_ctrl)/launch/$(arg model)_mocap.launch">
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</include>
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</launch>
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