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Added example launch file for multiple drones.
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@jacobperron
jacobperron committed Aug 7, 2015
1 parent 1d3de8a commit 114b6d4
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51 changes: 29 additions & 22 deletions launch/ardrone.launch
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<?xml version="1.0"?>
<!-- This is a sample lanuch file, please change it based on your needs -->
<launch>
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
<param name="outdoor" value="1" />
<param name="max_bitrate" value="4000" />
<param name="bitrate" value="4000" />
<param name="navdata_demo" value="0" />
<param name="flight_without_shell" value="0" />
<param name="altitude_max" value="3000" />
<param name="altitude_min" value="50" />
<param name="euler_angle_max" value="0.21" />
<param name="control_vz_max" value="700" />
<param name="control_yaw" value="1.75" />
<param name="detect_type" value="10" />
<param name="enemy_colors" value="3" />
<param name="detections_select_h" value="32" />
<param name="detections_select_v_hsync" value="128" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
<!-- IPv4 address of your drone -->
<arg name="ip" default="192.168.1.1" />
<!-- Ultrasound frequency (7 or 8). -->
<arg name="freq" default="8" />
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver"
output="screen" clear_params="true" args="-ip $(arg ip)">
<param name="outdoor" value="0" />
<param name="max_bitrate" value="4000" />
<param name="bitrate" value="4000" />
<param name="navdata_demo" value="0" />
<param name="flight_without_shell" value="0" />
<param name="altitude_max" value="4000" />
<param name="altitude_min" value="50" />
<param name="euler_angle_max" value="0.21" />
<param name="control_vz_max" value="700" />
<param name="control_yaw" value="1.75" />
<param name="detect_type" value="10" />
<param name="enemy_colors" value="3" />
<param name="detections_select_h" value="32" />
<param name="detections_select_v_hsync" value="128" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<param name="ultrasound_freq" value="$(arg freq)" />
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
</node>
</launch>

68 changes: 37 additions & 31 deletions launch/ardrone_aggressive.launch
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<?xml version="1.0"?>
<!-- This is a sample lanuch file, please change it based on your needs -->
<launch>
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
<arg name="ip" default="192.168.1.1" />
<arg name="freq" default="8" />
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver"
output="screen" clear_params="true" args="-ip $(arg ip)">

<!-- Modifies the drone's onboard parameters. If not specified, drone default will be used (consult SDK or ardrone_autonomy wiki) -->
<param name="outdoor" value="1" />
<param name="flight_without_shell" value="1" />
<param name="navdata_demo" value="0" />
<!-- Modifies the drone's onboard parameters.
If not specified, drone default will be used (consult SDK or ardrone_autonomy wiki) -->
<param name="outdoor" value="1" />
<param name="flight_without_shell" value="1" />
<param name="navdata_demo" value="0" />

<param name="max_bitrate" value="2000" />
<param name="bitrate" value="2000" />
<param name="video_codec" value="129" />
<param name="max_bitrate" value="2000" />
<param name="bitrate" value="2000" />
<param name="video_codec" value="129" />

<param name="altitude_max" value="5000" />
<param name="altitude_min" value="300" />
<param name="altitude_max" value="5000" />
<param name="altitude_min" value="300" />

<param name="control_vz_max" value="2000" />
<param name="control_yaw" value="6.11" />
<param name="euler_angle_max" value="0.35" />
<param name="control_vz_max" value="2000" />
<param name="control_yaw" value="6.11" />
<param name="euler_angle_max" value="0.35" />

<param name="detect_type" value="10" />
<param name="detections_select_h" value="128" />
<param name="detections_select_v_hsync" value="32" />
<param name="enemy_colors" value="3" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<param name="detect_type" value="10" />
<param name="detections_select_h" value="128" />
<param name="detections_select_v_hsync" value="32" />
<param name="enemy_colors" value="3" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<param name="ultrasound_freq" value="$(arg freq)" />

<!-- Enables the standard /ardrone/navdata, imu and mag topics. If not specified, defaults to TRUE -->
<param name="enable_legacy_navdata" value="true" />
<!-- Enables the standard /ardrone/navdata, imu and mag topics. If not specified, defaults to TRUE -->
<param name="enable_legacy_navdata" value="true" />

<!-- Enables the new-style, full information navdata packets. If not specified, defaults to FALSE -->
<param name="enable_navdata_demo" value="true" />
<!-- Enables the new-style, full information navdata packets. If not specified, defaults to FALSE -->
<param name="enable_navdata_demo" value="true" />
<param name="enable_navdata_time" value="true" />
<param name="enable_navdata_raw_measures" value="true" />
<param name="enable_navdata_phys_measures" value="true" />
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<param name="enable_navdata_wifi" value="true" />
<param name="enable_navdata_zimmu_3000" value="true" />

<!-- Tunes the speed at which the ros loop runs, and thus, the rate at which navdata is published -->
<!-- Tunes the speed at which the ros loop runs, and thus, the rate at which navdata is published -->
<param name="looprate" value="50" />

<!-- Do we want to publish new-style navdata when received (true), or every time the ros-loop runs (false)? -->
<!-- (does not affect legacy navdata, which is always published at ros-loop rate) -->
<!-- Do we want to publish new-style navdata when received (true), or every time the ros-loop runs (false)? -->
<!-- (does not affect legacy navdata, which is always published at ros-loop rate) -->
<param name="realtime_navdata" value="true" />
<param name="realtime_video" value="true" />

<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
</node>
</launch>
19 changes: 19 additions & 0 deletions launch/ardrone_group.launch
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<?xml version="1.0"?>
<!-- Example launch file for multiple AR Drones -->
<launch>
<!-- Include the ardrone launch file for each drone.
IMPORTANT: Ensure the namespace for each include is unique. -->
<include file="$(find ardrone_autonomy)/launch/ardrone.launch" ns="ardrone1">
<arg name="ip" value="192.168.1.152" />
<!-- Choose ultrasound frequencies to help reduce interference between drones.
Available values are '7' or '8'. -->
<arg name="freq" value="7" />
</include>

<!-- Add second drone -->
<include file="$(find ardrone_autonomy)/launch/ardrone.launch" ns="ardrone2">
<arg name="ip" value="192.168.1.157" />
<arg name="freq" value="8" />
</include>

</launch>

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