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tuning.launch
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tuning.launch
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<launch>
<arg name="mav_name" default="MTD"/>
<rosparam command="load" file="controller2020.yml" ns="controller"/>
<node name="rosflight_io" pkg="rosflight" type="rosflight_io" output="screen">
<param name="port" value="/dev/ttyACM0"/>
</node>
<node name="uINS" pkg="inertial_sense" type="inertial_sense_node" output="screen">
<param name="~port" value="/dev/uINS"/>
<!-- WEBSTER FIELD -->
<!--
<param name="~lat_ref" value="38.144692"/>
<param name="~lon_ref" value="-76.428007"/>
<param name="~h_ref" value="0.0"/>
-->
<!-- Helwig Field Big, MD -->
<!--
<param name="~lat_ref" value="38.367192"/>
<param name="~lon_ref" value="-76.523419"/>
<param name="~h_ref" value="0.0"/>
-->
<!-- Helwig Field Small, MD -->
<!--
<param name="~lat_ref" value="38.3649293"/>
<param name="~lon_ref" value="-76.5366214"/>
<param name="~h_ref" value="0.0"/>
-->
<!-- Kawasaki field -->
<param name="~lat_ref" value="40.174571"/>
<param name="~lon_ref" value="-111.651641"/>
<param name="~h_ref" value="1395"/>
<!-- Rock Canyon-->
<!--
<param name="~lat_ref" value="40.2678966681"/>
<param name="~lon_ref" value="-111.634524573"/>
<param name="~h_ref" value="1395"/>
-->
</node>
<node name="estimator" pkg="rosplane" type="rosplane_estimator" output="screen">
<param name="~use_inertial_sense" type="bool" value="true"/>
Kawasaki field
<param name="~ins_lat_ref" value="40.174571"/>
<param name="~ins_lon_ref" value="-111.651641"/>
<param name="~ins_alt_ref" value="1395"/>
<!--
<param name="~lat_ref" value="40.2678966681"/>
<param name="~lon_ref" value="-111.634524573"/>
<param name="~alt_ref" value="1395"/>
-->
</node>
<node name="controller" pkg="rosplane" type="rosplane_controller" output="screen">
</node>
<node name="path_follower" pkg="rosplane" type="rosplane_path_follower" output="screen"/>
<node name="path_manager" pkg="rosplane" type="rosplane_path_manager" output="screen">
<param name="~R_min" value="40.0" />
</node>
<node name="bag" pkg="rosbag" type="record" args="-o Mar31 -a -x '/camera/img/compressed'" output="screen"/>
</launch>