oscillation_ctrl/launch/klausen_dampen.launch

<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
  <arg name="mav_name" default="spiri"/>
  <arg name="command_input" default="1" />
  <arg name="log_output" default="screen" />
  <arg name="fcu_protocol" default="v2.0" />
  <arg name="respawn_mavros" default="false" />
  <arg name="gazebo_gui" default="false" />
  <!--arg name="test_type" default="step.py" /-->
  <arg name="model" default="spiri_with_tether"/>
  <arg name='test' default="none"/>

  <group ns="sim">
  	<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
  </group>

  <group ns="status">
  	<param name="test_type" value="$(arg test)"/>
  </group>

	<node
		pkg="oscillation_ctrl"
		type="LinkState.py"
		name="linkStates_node"
		launch-prefix="xterm -e"
	/>
	<node
		pkg="oscillation_ctrl"
		type="wpoint_tracker.py"
		name="waypoints_server"
	/>
	<node
		pkg="oscillation_ctrl"
		type="ref_signalGen.py"
		name="refSignal_node"
	/>
	<node
		pkg="oscillation_ctrl"
		type="klausen_control.py"
		name="klausenCtrl_node"
		output="screen"
	/>
	<node
		pkg="oscillation_ctrl"
		type="pathFollow_node"
		name="pathFollow_node"
		launch-prefix="xterm -e"
	/>
	
	<group if="$(eval test != 'none')">
		<node
			pkg="oscillation_ctrl"
			type="perform_test.py"
			name="test_node"
			launch-prefix="xterm -e"
		/>
	</group>
  	<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
  	  <param name="mav_name" type="string" value="$(arg mav_name)" />
          <!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/-->
          <param name="ctrl_mode" value="$(arg command_input)" />
          <param name="max_acc" value="8.0" />
          <param name="Kp_x" value="8.0" />
          <param name="Kp_y" value="8.0" />
          <param name="Kp_z" value="10.0" />
          <param name="Kv_x" value="3.0" />
          <param name="Kv_y" value="3.0" />
          <param name="Kv_z" value="6.0" />
  	</node>
	<!-- PX4 LAUNCH -->
	<include file="$(find px4)/launch/$(arg model).launch"/>
</launch>