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sitl_trajectory_track_circle.launch
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sitl_trajectory_track_circle.launch
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<launch>
<arg name="mav_name" default="iris"/>
<arg name="fcu_url" default="udp://:14540@127.0.0.1:14557"/>
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="command_input" default="2" />
<arg name="gazebo_simulation" default="true" />
<arg name="visualization" default="true"/>
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />
<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
<param name="mav_name" type="string" value="$(arg mav_name)" />
<remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/>
<param name="ctrl_mode" value="$(arg command_input)" />
<param name="enable_sim" value="$(arg gazebo_simulation)" />
<param name="enable_gazebo_state" value="true"/>
<param name="max_acc" value="10.0" />
<param name="Kp_x" value="8.0" />
<param name="Kp_y" value="8.0" />
<param name="Kp_z" value="30.0" />
</node>
<node pkg="trajectory_publisher" type="trajectory_publisher" name="trajectory_publisher" output="screen">
<param name="trajectory_type" value="1" />
<param name="shape_omega" value="1.2" />
<param name="initpos_z" value="2.0" />
<param name="reference_type" value="2" />
</node>
<!-- Launch rqt_reconfigure -->
<node pkg="rqt_reconfigure" type="rqt_reconfigure" output="screen" name="rqt_reconfigure" />
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
</include>
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="vehicle" value="$(arg mav_name)"/>
</include>
<group if="$(arg visualization)">
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find geometric_controller)/launch/config_file.rviz" />
</group>
</launch>