61 lines
2.2 KiB
XML
61 lines
2.2 KiB
XML
<!--
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Copyright © 2015 CentraleSupélec
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This file is part of Hand Control.
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Hand Control is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Hand Control is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
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-->
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<!-- cf ARDrone Developer Guide -->
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<launch>
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<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
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<!-- indoor -->
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<param name="outdoor" value="0" />
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<param name="max_bitrate" value="4000" />
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<param name="bitrate" value="4000" />
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<!-- 0 : 15Hz, drone sends a reduced set
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of navigation data (without debugging info) -->
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<!-- 1 : 200Hz -->
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<param name="navdata_demo" value="0" />
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<param name="flight_without_shell" value="0" />
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<!-- in mm -->
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<param name="altitude_max" value="8000" /><!-- 2 m -->
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<param name="altitude_min" value="50" />
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<!-- in radians, between 0. and 0.52 (30°) -->
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<param name="euler_angle_max" value="0.21" />
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<!-- maximum vertical speed, in mm/s -->
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<!-- between 200 and 2000 -->
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<param name="control_vz_max" value="700" />
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<!-- maximum yaw speed, in radians/s -->
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<!-- betwenn 0.7 and 6.11 -->
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<param name="control_yaw" value="1.75" />
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<!-- ROS driver parameters -->
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<param name="do_imu_caliberation" value="false" />
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<param name="tf_prefix" value="mydrone" />
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<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
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<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
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<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
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<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
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</node>
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</launch>
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