94 lines
4.7 KiB
XML
94 lines
4.7 KiB
XML
<launch>
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<node name="Ratex_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratex $(find detect_targets)/params/rate.yaml" />
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<node name="Ratey_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratey $(find detect_targets)/params/rate.yaml" />
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<node name="Ratez_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratez $(find detect_targets)/params/rate.yaml" />
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<node name="Rateangz_param" pkg="dynamic_reconfigure" type="dynparam" args="load /rate_ang_z $(find detect_targets)/params/rate.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 $(find detect_targets)/params/settings_targets.yaml"/>
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<!-- <remap from="/reset" to="/bebop/reset"/> -->
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<include file="$(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="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="rated_x" />
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</node>
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<include file="$(find detect_targets)/launch/control.launch" ns="controller_linear_x">
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<arg name="reset" value="/reset_pid" />
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<arg name="measure" value="/rated_x" />
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<arg name="param_P" value="simple_loop/linear_x/P.yaml" />
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<arg name="param_I" value="simple_loop/linear_x/I.yaml" />
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<arg name="param_D" value="simple_loop/linear_x/D.yaml" />
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<arg name="param_input" value="simple_loop/linear_x/input.yaml" />
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</include>
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<node name="ratey" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="linear_y" />
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<remap from="output" to="rated_y" />
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</node>
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<include file="$(find detect_targets)/launch/control.launch" ns="controller_linear_y">
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<arg name="reset" value="/reset_pid" />
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<arg name="measure" value="/rated_y" />
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<arg name="param_P" value="simple_loop/linear_y/P.yaml" />
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<arg name="param_I" value="simple_loop/linear_y/I.yaml" />
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<arg name="param_D" value="simple_loop/linear_y/D.yaml" />
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<arg name="param_input" value="simple_loop/linear_y/input.yaml" />
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</include>
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<node name="ratez" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="linear_z" />
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<remap from="output" to="rated_z" />
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</node>
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<include file="$(find detect_targets)/launch/control.launch" ns="controller_linear_z">
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<arg name="reset" value="/reset_pid" />
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<arg name="measure" value="/rated_z" />
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<arg name="param_P" value="simple_loop/linear_z/P.yaml" />
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<arg name="param_I" value="simple_loop/linear_z/I.yaml" />
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<arg name="param_D" value="simple_loop/linear_z/D.yaml" />
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<arg name="param_input" value="simple_loop/linear_z/input.yaml" />
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</include>
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<node name="rate_ang_z" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="angular_z" />
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<remap from="output" to="rated_ang_z" />
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</node>
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<include file="$(find detect_targets)/launch/control.launch" ns="controller_angular_z">
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<arg name="reset" value="/reset_pid" />
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<arg name="measure" value="/rated_ang_z" />
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<arg name="param_P" value="simple_loop/angular_z/P.yaml" />
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<arg name="param_I" value="simple_loop/angular_z/I.yaml" />
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<arg name="param_D" value="simple_loop/angular_z/D.yaml" />
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<arg name="param_input" value="simple_loop/angular_z/input.yaml" />
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</include>
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<node name="twister" pkg="detect_targets" type="twist_controls.py">
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<remap from="control_linear_z" to="controller_linear_z/output" />
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<remap from="control_angular_z" to="controller_angular_z/output" />
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<remap from="control_linear_x" to="controller_linear_x/output" />
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<remap from="control_linear_y" to="controller_linear_y/output" />
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</node>
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<node name="safe" pkg="detect_targets" 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="view_targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
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<node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
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<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
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</launch>
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