oscillation_ctrl/launch/mocap_sim.launch

<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
  <group ns="status">
	<rosparam file="$(find oscillation_ctrl)/config/mocapGazebo_params.yaml" />
  </group>
  <arg name="model" default="headless_spiri"/>
	<node
		pkg="oscillation_ctrl"
		type="MoCap_Localization_fake.py"
		name="fakeMocap_node"
		launch-prefix="xterm -e"
	/>
	<!-- DETERMINES DESIRED POSITION -->
	<node
		pkg="oscillation_ctrl"
		type="wpoint_tracker.py"
		name="waypoints_server"
	/>
	<!-- CREATES DESIRED TRAJECTORY/ REFERENCE SIGNAL -->
	<node
		pkg="oscillation_ctrl"
		type="ref_signalGen.py"
		name="refSignal_node"
	/>
	<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
	<node
		pkg="oscillation_ctrl"
		type="klausen_control.py"
		name="klausenCtrl_node"
		launch-prefix="xterm -e"
	/>
	<!-- PUBLISHES DESIRED COMMANDS -->
	<node
		pkg="oscillation_ctrl"
		type="mocap_pathFollow_node"
		name="mocap_pathFollow_node"
		launch-prefix="xterm -e"
	/>
	<!-- RUNS TEST -->
	<node
		pkg="oscillation_ctrl"
		type="mocap_runTest.py"
		name="mocap_Test"
		launch-prefix="xterm -e"
	/>
	<!-- SETS PLOAD MASS -->
	<node
		pkg="oscillation_ctrl"
		type="set_ploadmass.py"
		name="set_ploadmass"
		output="screen"
	/>
	<!-- PX4 LAUNCH -->
	<include file="$(find oscillation_ctrl)/launch/$(arg model)_mocap.launch">
	</include>
	
	<!-- Tf LAUNCH -->
	<node pkg="tf" type="static_transform_publisher" name="map_to_pload_imu" args="0 0 0 0 0 0 map pload_imu 10" />
	<node pkg="tf" type="static_transform_publisher" name="map_to_pload" args="0 0 0 0 0 0 map payload 10" />
</launch>