Updated launch file to be able to change payload mass in simulation

CMakeLists.txt

@@ -77,12 +77,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_executable(offb_node src/offb_node.cpp)
-
-target_link_libraries(offb_node ${catkin_LIBRARIES})
-
-add_dependencies(offb_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
-
 add_executable(pathFollow_node src/path_follow.cpp)
 
 target_link_libraries(pathFollow_node ${catkin_LIBRARIES})

launch/oscillation_damp.launch

@@ -53,6 +53,13 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
 			launch-prefix="xterm -e"
 		/>
 	</group>
+	<!-- 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).launch"/>
 </launch>

px4_setup/protobuf_install.txt

@@ -12,3 +12,9 @@ wstool merge -t src /tmp/mavros.rosinstall
 wstool update -t src -j4
 rosdep install --from-paths src --ignore-src -y
 catkin build
+
+steps:
+wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
+bash ubuntu_sim_ros_melodic.sh
+git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+git checkout 601c588294973caf105b79a23f7587c6b991bb05