31 lines
1.1 KiB
Text
31 lines
1.1 KiB
Text
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<launch>
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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="controller" pkg="drone_demo" type="triangle_control.py" output="screen">
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<remap from="component_centers" to="targets"/>
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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="reset" to="/bebop/reset"/>
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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="view1" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find drone_demo)/params/triangle.rviz"/>
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<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
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<node name="pid_param" pkg="dynamic_reconfigure" type="dynparam" args="load /controller $(find drone_demo)/params/triangle-control-pid.yaml"/>
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</launch>
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