<launch>

  <include file="$(find bebop_driver)/launch/bebop_node.launch" />

  <node name="targets" pkg="detect_targets" type="target_publisher.py">
  </node>

  <node name="controller" pkg="detect_targets" type="triangle_control.py" output="screen">
    <remap from="component_centers" to="targets"/>
  </node>


  <node name="safe" pkg="demo_teleop" type="safe_drone_teleop.py" output="screen" launch-prefix="xterm -e">
    <remap from="takeoff" to="/bebop/takeoff"/>
    <remap from="land" to="/bebop/land"/>
    <remap from="reset" to="/bebop/reset"/>
    <remap from="cmd_vel_out" to="/bebop/cmd_vel"/>
    <remap from="cmd_vel_in" to="/cmd_vel"/>
  </node>


  <node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>

  <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
  <node name="pid_param" pkg="dynamic_reconfigure" type="dynparam" args="load /controller $(find drone_demo)/params/triangle-control-pid.yaml"/>

</launch>

