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set good parameters in ardrone.launch

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Louis-Guillaume DUBOIS 2015-04-24 18:18:52 +02:00
parent 84e6b1a441
commit 764ea3822a
1 changed files with 41 additions and 24 deletions
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65
hand_control/launch/ardrone.launch
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@ -1,27 +1,44 @@
<!-- This is a sample lanuch file, please change it based on your needs -->
<!-- cf ARDrone Developer Guide -->
<launch>
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
<param name="outdoor" value="1" />
<param name="max_bitrate" value="4000" />
<param name="bitrate" value="4000" />
<param name="navdata_demo" value="0" />
<param name="flight_without_shell" value="0" />
<param name="altitude_max" value="3000" />
<param name="altitude_min" value="50" />
<param name="euler_angle_max" value="0.21" />
<param name="control_vz_max" value="700" />
<param name="control_yaw" value="1.75" />
<param name="detect_type" value="10" />
<param name="enemy_colors" value="3" />
<param name="detections_select_h" value="32" />
<param name="detections_select_v_hsync" value="128" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
</node>
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
<!-- indoor -->
<param name="outdoor" value="0" />
<param name="max_bitrate" value="4000" />
<param name="bitrate" value="4000" />
<!-- 0 : drone sends a reduced set
of navigation data (without debugging info) -->
<param name="navdata_demo" value="0" />
<param name="flight_without_shell" value="0" />
<!-- in mm -->
<param name="altitude_max" value="2000" /><!-- 2 m -->
<param name="altitude_min" value="50" />
<!-- in radians, between 0. and 0.52 (30°) -->
<param name="euler_angle_max" value="0.21" />
<!-- maximum vertical speed, in mm/s -->
<!-- between 200 and 2000 -->
<param name="control_vz_max" value="700" />
<!-- maximum yaw speed, in radians/s -->
<!-- betwenn 0.7 and 6.11 -->
<param name="control_yaw" value="1.75" />
<!-- ROS driver parameters -->
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<!--
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
-->
</node>
</launch>