forked from cesar.alejandro/oscillation_ctrl
63 lines
1.8 KiB
XML
63 lines
1.8 KiB
XML
<?xml version="1.0"?>
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<!--
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Launch file to use klausen oscillaton damping ctrl in Gazebo
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/-->
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<launch>
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<arg name="mav_name" default="spiri"/>
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<arg name="command_input" default="1" />
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<arg name="log_output" default="screen" />
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<arg name="fcu_protocol" default="v2.0" />
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<arg name="respawn_mavros" default="false" />
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<arg name="gazebo_gui" default="false" />
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<arg name="test_type" default="step.py" />
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<group ns="sim">
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<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
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</group>
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<node
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pkg="oscillation_ctrl"
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type="LinkState.py"
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name="linkStates_node"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="ref_signalGen.py"
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name="refSignal_node"
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/>
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<node
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pkg="oscillation_ctrl"
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type="klausen_control.py"
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name="klausenCtrl_node"
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output="screen"
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/>
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<node
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pkg="oscillation_ctrl"
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type="pathFollow_node"
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name="pathFollow_node"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="$(arg test_type)"
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name="test_node"
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launch-prefix="xterm -e"
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/>
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<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
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<param name="mav_name" type="string" value="$(arg mav_name)" />
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<!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/-->
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<param name="ctrl_mode" value="$(arg command_input)" />
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<param name="max_acc" value="8.0" />
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<param name="Kp_x" value="8.0" />
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<param name="Kp_y" value="8.0" />
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<param name="Kp_z" value="10.0" />
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<param name="Kv_x" value="3.0" />
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<param name="Kv_y" value="3.0" />
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<param name="Kv_z" value="6.0" />
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</node>
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<!-- PX4 LAUNCH -->
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<include file="$(find px4)/launch/spiri_with_tether.launch"/>
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</launch> |