55 lines
1.0 KiB
Plaintext
55 lines
1.0 KiB
Plaintext
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<?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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<arg name='turtle' default="none"/>
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<group ns="sim">
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<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
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</group>
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<node
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pkg="oscillation_ctrl"
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type="LinkState.py"
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name="LinkStates"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="circle_acceleration.py"
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name="circle_acceleration"
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/>
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<node
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pkg="oscillation_ctrl"
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type="wpoint_tracker.py"
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name="waypoints_server"
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launch-prefix="xterm -e"
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/>
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<group if="$(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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<group if="$(eval turtle != 'none')">
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<node
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pkg="oscillation_ctrl"
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type="turtle_test.py"
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name="turtle_test"
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/>
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<node
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pkg="turtlesim"
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type="turtlesim_node"
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name="turtlesim_node"
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/>
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</group>
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<!-- PX4 LAUNCH -->
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<include file="$(find px4)/launch/$(arg model).launch"/>
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</launch>
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