48 lines
2.1 KiB
Text
48 lines
2.1 KiB
Text
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<launch>
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<remap from="/reset" to="/bebop/reset"/>
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<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
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<include file="$(find bebop_driver)/launch/bebop_node.launch" />
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<node name="targets" pkg="detect_targets" type="target_publisher.py">
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</node>
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<node name="triangle" pkg="detect_targets" type="triangle.py" output="screen">
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<remap from="component_centers" to="targets"/>
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</node>
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<node name="untwist" pkg="detect_targets" type="untwist.py" output="screen">
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<remap from="input" to="/bebop/cmd_vel" />
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</node>
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<node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<remap from="input" to="linear_x" />
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<remap from="output" to="measure_x" />
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</node>
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<node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<remap from="input" to="linear_y" />
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<remap from="output" to="measure_y" />
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</node>
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<include file="$(find detect_targets)/launch/control.launch" ns="controller_angular_z">
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<arg name="reset" value="/reset" />
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<arg name="measure" value="/angular_z" />
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</include>
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<node name="twister" pkg="detect_targets" type="twist_controls.py">
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<remap from="control_linear_z" to="controller_linear_z/output" />
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<remap from="control_angular_z" to="controller_angular_z/output" />
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<remap from="control_linear_x" to="controller_linear_x/internal_loop/output" />
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<remap from="control_linear_y" to="controller_linear_y/internal_loop/output" />
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</node>
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<node name="safe" pkg="demo_teleop" type="safe_drone_teleop.py" output="screen" launch-prefix="xterm -e">
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<remap from="takeoff" to="/bebop/takeoff"/>
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<remap from="land" to="/bebop/land"/>
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<remap from="cmd_vel_out" to="/bebop/cmd_vel"/>
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<remap from="cmd_vel_in" to="/cmd_vel"/>
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</node>
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<node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
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<node name="view__targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
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<node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
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</launch>
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