2022-09-09 18:03:40 -03:00
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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='test' default="none"/>
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<arg name="mav_name" default="spiri"/>
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<arg name="command_input" default="1" />
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<arg name="log_output" default="screen" />
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<arg name="fcu_protocol" default="v2.0" />
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<arg name="respawn_mavros" default="false" />
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<arg name="gazebo_gui" default="false" />
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<arg name="fcu_url" default="udp://:14549@192.168.1.91:14554"/>
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<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
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<arg name="connection_type" default="wifi"/>
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<group ns="status">
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2022-09-14 14:19:12 -03:00
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<rosparam file="$(find oscillation_ctrl)/config/mocapLab_params.yaml" />
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2022-09-09 18:03:40 -03:00
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<param name="test_type" value="$(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="Mocap_Bridge.py"
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name="localize_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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launch-prefix="xterm -e"
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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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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="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 DIFFERENT TESTS IF DESIRED -->
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<group if="$(eval test != 'none')">
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<node
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pkg="oscillation_ctrl"
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type="perform_test.py"
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name="test_node"
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launch-prefix="xterm -e"
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/>
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</group>
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<!-- RUNS TEST -->
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<node
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pkg="oscillation_ctrl"
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type="mocap_runTest.py"
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name="mocap_Test"
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launch-prefix="xterm -e"
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/>
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<!-- Cortex bridge launch -->
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<include file="$(find cortex_bridge)/launch/cortex_bridge.launch">
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<!--param name="local_ip" value="$(param local_ip)" /-->
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</include>
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<!-- MAVROS launch -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="pluginlists_yaml" value="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" />
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<arg name="config_yaml" value="$(find oscillation_ctrl)/config/px4_config.yaml" />
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<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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</include>
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</launch>
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