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px4-firmware
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improve launch files

This commit is contained in:
Thomas Gubler 2014-12-31 15:23:28 +01:00
parent 134f41c707
commit 1b0446ed41
2 changed files with 7 additions and 9 deletions
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11
launch/gazebo_multicopter.launch
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@ -1,13 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" />
<group ns="px4_multicopter">
<node pkg="joy" name="joy_node" type="joy_node"/>
<node pkg="px4" name="manual_input" type="manual_input"/>
<node pkg="px4" name="commander" type="commander"/>
<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
</group>
<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
</launch>

5
launch/multicopter.launch
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@ -7,6 +7,11 @@
<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<param name="MC_ROLL_P" type="double" value="6.0" />
<param name="MC_PITCH_P" type="double" value="6.0" />
<param name="MC_ROLLRATE_P" type="double" value="0.05" />
<param name="MC_PITCHRATE_P" type="double" value="0.05" />
</group>
</launch>