<!-- cf ARDrone Developer Guide --> <launch> <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 : 15Hz, drone sends a reduced set of navigation data (without debugging info) --> <!-- 1 : 200Hz --> <param name="navdata_demo" value="0" /> <param name="flight_without_shell" value="0" /> <!-- in mm --> <param name="altitude_max" value="8000" /><!-- 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>