77 lines
3.3 KiB
XML
77 lines
3.3 KiB
XML
<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>
|