forked from cesar.alejandro/oscillation_ctrl
43 lines
859 B
XML
43 lines
859 B
XML
<?xml version="1.0"?>
|
|
<launch>
|
|
<arg name="model" default="headless_spiri_with_tether"/>
|
|
<arg name='test' default="none"/>
|
|
<group ns="sim">
|
|
<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
|
|
</group>
|
|
<group ns="status">
|
|
<param name="test_type" value="$(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>
|