drone-rigide/launch/bebop-triangle-control.launch

<launch>
  <remap from="/reset" to="/bebop/reset"/>
  <include file="$(find bebop_driver)/launch/bebop_node.launch" />

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

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

  <group ns="controller_linear_x">
    <include file="$(find detect_targets)/launch/control.launch" ns="external_loop">
      <arg name="output" value="/controller_linear_x/internal_loop/input" />
      <arg name="reset" value="/reset" />
      <arg name="measure" value="/linear_x" />
    </include>
    <include file="$(find detect_targets)/launch/control.launch" ns="internal_loop">
      <arg name="reset" value="/reset" />
    </include>
  </group>
  <group ns="controller_linear_y">
    <include file="$(find detect_targets)/launch/control.launch" ns="external_loop">
      <arg name="output" value="/controller_linear_y/internal_loop/input" />
      <arg name="reset" value="/reset" />
      <arg name="measure" value="/linear_y" />
    </include>
    <include file="$(find detect_targets)/launch/control.launch" ns="internal_loop">
      <arg name="reset" value="/reset" />
    </include>
  </group>
  <include file="$(find detect_targets)/launch/control.launch" ns="controller_linear_z">
    <arg name="reset" value="/reset" />
    <arg name="measure" value="/linear_z" />
  </include>
  <include file="$(find detect_targets)/launch/control.launch" ns="controller_angular_z">
      <arg name="reset" value="/reset" />
      <arg name="measure" value="/angular_z" />
  </include>

  <node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
    <remap from="input" to="linear_x" />
    <remap from="output" to="controller_linear_x/internal_loop/measure" />
  </node>
  <node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
    <remap from="input" to="linear_y" />
    <remap from="output" to="controller_linear_y/internal_loop/measure" />
  </node>

  <node name="twister" pkg="detect_targets" type="twist_controls.py">
    <remap from="control_linear_z" to="controller_linear_z/output" />
    <remap from="control_angular_z" to="controller_angular_z/output" />
    <remap from="control_linear_x" to="controller_linear_x/internal_loop/output" />
    <remap from="control_linear_y" to="controller_linear_y/internal_loop/output" />
  </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="relay" pkg="topic_tools" type="relay" args="/reset /bebop/reset">
  </node> -->


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

  <node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
  <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>