oscillation_ctrl/launch/takeoff_noCtrl.launch

<?xml version="1.0"?>
<launch>
  <arg name="model" default="headless_spiri_with_tether"/>
  <arg name='test' default="none"/>
  
	<group ns="sim">
  	<rosparam file="$(find oscillation_ctrl)/config/gazebo_config.yaml" />
	</group>
  <group ns="status">
		<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
  	<param name="test_type" value="$(arg test)"/>
  </group>

	<node
		pkg="oscillation_ctrl"
		type="LinkState.py"
		name="LinkStates"
		launch-prefix="xterm -e"
	/>
	<node
		pkg="oscillation_ctrl"
		type="offb_node"
		name="offb_node"
		launch-prefix="xterm -e"
	/>


	<node
		pkg="oscillation_ctrl"
		type="wpoint_tracker.py"
		name="waypoints_server"
	/>

	<group if="$(eval test != 'none')">
		<node
			pkg="oscillation_ctrl"
			type="perform_test.py"
			name="test_node"
			launch-prefix="xterm -e"
		/>
	</group>
	<!-- PX4 LAUNCH -->
	<include file="$(find px4)/launch/$(arg model).launch"/>
</launch>