55 lines
2.8 KiB
XML
55 lines
2.8 KiB
XML
<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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<node name="Ratex_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratex $(find detect_targets)/params/settings_test_D_rate.yaml"/>
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<node name="Ratey_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratey $(find detect_targets)/params/settings_test_D_rate.yaml"/>
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<node name="Dx_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dx $(find detect_targets)/params/settings_test_D.yaml"/>
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<node name="Dy_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dy $(find detect_targets)/params/settings_test_D.yaml"/>
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<node name="safe_param" pkg="dynamic_reconfigure" type="dynparam" args="load /safe $(find detect_targets)/params/settings_safe.yaml"/>
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<node name="targets_param" pkg="dynamic_reconfigure" type="dynparam" args="load /targets $(find detect_targets)/params/settings_blue.yaml"/>
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<include file="$(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="ratex" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="linear_x" />
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<remap from="output" to="derivative_x_input" />
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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="derivative_x_input" />
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<remap from="output" to="measure_x" />
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</node>
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<node name="ratey" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="linear_y" />
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<remap from="output" to="derivative_y_input" />
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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="derivative_y_input" />
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<remap from="output" to="measure_y" />
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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="plot" pkg="rqt_plot" type="rqt_plot" args="/measure_x /measure_linear_x">
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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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</launch>
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