45 lines
933 B
XML
45 lines
933 B
XML
<?xml version="1.0"?>
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<launch>
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<arg name="model" default="headless_spiri_with_tether"/>
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<arg name='test' default="none"/>
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<group ns="sim">
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<rosparam file="$(find oscillation_ctrl)/config/gazebo_config.yaml" />
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</group>
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<group ns="status">
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<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
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<param name="test_type" value="$(arg test)"/>
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</group>
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<node
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pkg="oscillation_ctrl"
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type="LinkState.py"
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name="LinkStates"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="offb_node"
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name="offb_node"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="wpoint_tracker.py"
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name="waypoints_server"
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/>
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<group if="$(eval test != 'none')">
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<node
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pkg="oscillation_ctrl"
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type="perform_test.py"
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name="test_node"
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launch-prefix="xterm -e"
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/>
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</group>
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<!-- PX4 LAUNCH -->
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<include file="$(find px4)/launch/$(arg model).launch"/>
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</launch>
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