2019-06-02 16:02:15 +00:00
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<launch>
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<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
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2019-06-05 06:54:37 +00:00
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<node name="D_param" pkg="dynamic_reconfigure" type="dynparam" args="load /D $(find detect_targets)/params/settings_test_D.yaml"/>
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<node name="Rate_param" pkg="dynamic_reconfigure" type="dynparam" args="load /rate $(find detect_targets)/params/settings_test_D_rate.yaml"/>
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2019-06-02 16:02:15 +00:00
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2019-06-05 06:54:37 +00:00
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<node name="publisher" pkg="detect_targets" type="publish_csv.py" args="$(find detect_targets)/utils/data/walk.csv" output="screen">
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<remap from="output" to="rate_input" />
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</node>
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<node name="rate" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="rate_input" />
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2019-06-02 16:02:15 +00:00
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<remap from="output" to="derivative_input" />
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</node>
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<node name="D" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<remap from="input" to="derivative_input" />
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<remap from="output" to="derivative_output" />
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</node>
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<node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
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<node name="plot" pkg="rqt_plot" type="rqt_plot" args="/derivative_input /derivative_output" output="screen">
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</node>
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</launch>
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