<launch> <node name="filtre_z" pkg="hand_control" type="filtre"> <remap from="/filtre/input" to="/random_pcl"/> </node> <param name="/random/freq" value="10.0" type="double" /> <param name="/random/length" value="25" type="int" /> <node name="publisher" pkg="hand_control" type="random_pcl_publisher" > <remap from="/random/output" to="/random_pcl"/> </node> <node name="estimator" pkg="hand_control" type="normal_estimator"> <remap from="/estimator/input" to="/filtre/output"/> </node> <param name="/commande/min_number" value="5" type="int"/> <param name="/commande/x_dev_min" value="0." type="double"/> <param name="/commande/y_dev_min" value="0." type="double"/> <param name="/commande/dz_dev_min" value="0." type="double"/> <param name="/commande/max_curv" value="0.3" type="double"/> <node name="commande" pkg="hand_control" type="commande"> <remap from="/commande/input" to="/estimator/output"/> </node> </launch>