forked from cesar.alejandro/oscillation_ctrl
38 lines
1.2 KiB
XML
38 lines
1.2 KiB
XML
<?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>
|