oscillation_ctrl/launch/mocap_sim.launch

<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
  <arg name="mav_name" default="spiri_mocap"/>
  <arg name="command_input" default="1" />
  <arg name="model" default="headless_spiri_mocap"/>

	<node
		pkg="oscillation_ctrl"
		type="MoCap_Localization_fake.py"
		name="fakeMocap_node"
		launch-prefix="xterm -e"
	/>
	<node
		pkg="oscillation_ctrl"
		type="offb_node"
		name="offb_node"
		launch-prefix="xterm -e"
	/>
	
  	<!--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>