87 lines
1.9 KiB
Plaintext
87 lines
1.9 KiB
Plaintext
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<?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="model" default="headless_spiri_with_tether"/>
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<arg name="test" default="none"/>
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<arg name="turtle" default="none"/>
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<group ns="sim">
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<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
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</group>
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<group ns="status">
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<param name="test_type" value="$(arg test)"/>
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</group>
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<!-- LOCALIZES DRONE & DETERMINES LOAD ANGLES -->
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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_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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output="screen"
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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="pathFollow_node"
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name="pathFollow_node"
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launch-prefix="xterm -e"
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/>
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<!-- PUBLISHES WAYPOINTS FOR CIRCLE -->
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<node
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pkg="oscillation_ctrl"
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type="circle_waypoints.py"
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name="circle_waypoints"
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/>
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<group if="$(eval turtle != 'none')">
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<!-- TAKES DRONE POSITION, AND PASSES IT TO TURTLE-->
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<node
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pkg="oscillation_ctrl"
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type="turtle_test.py"
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name="turtle_test"
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/>
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<!-- TURTLE NODE -->
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<node
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pkg="turtlesim"
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type="turtlesim_node"
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name="turtlesim_node"
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/>
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</group>
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<!-- RUNS DIFFERENT TESTS IF DESIRED -->
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<group if="$(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="$(find oscillation_ctrl)/launch/$(arg model).launch"/>
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</launch>
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