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snav_ros.launch
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snav_ros.launch
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<?xml version="1.0"?>
<!--
/****************************************************************************
* Copyright (c) 2017 Michael Shomin. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ATLFlight nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* In addition Supplemental Terms apply. See the SUPPLEMENTAL file.
****************************************************************************/
-->
<launch>
<arg name="write_access" default="true"/>
<node pkg="snav_ros" name="snav_interface_node" type="snav_interface_node" output="screen">
<param name="loop_frequency" value="100.0"/>
<param name="low_freq_data_rate" value="5.0"/>
<param name="base_link_frame" value="/base_link"/>
<param name="write_access" value="$(arg write_access)"/>
<param name="high_level_actions_only" value="true"/>
<param name="tx_config_rate" value="200"/>
<param name="tx_config_desired_mode" value="SN_VIO_POS_HOLD_MODE"/>
<param name="tx_config_use_traj_tracking" value="true"/>
<param name="tx_config_waypoint_frame_parent" value="ESTIMATION"/>
<param name="planner_config_traj_type" value="MIN_SNAP"/>
<param name="rx_config_rate" value="200"/>
<param name="broadcast_tf" value="true"/>
<param name="broadcast_des_tf" value="true"/>
<param name="broadcast_waypoint_tf" value="true"/>
<param name="publish_pose" value="true"/>
<param name="publish_des_pose" value="false"/>
</node>
</launch>