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launch.py
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launch.py
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from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
nodes = [
# Tello driver node
Node(
package='tello',
executable='tello',
output='screen',
namespace='/',
name='tello',
parameters=[
{'connect_timeout': 10.0},
{'tello_ip': '192.168.10.1'},
{'tf_base': 'map'},
{'tf_drone': 'drone'}
],
remappings=[
('/image_raw', '/camera')
],
respawn=True
),
# Tello control node
Node(
package='tello_control',
executable='tello_control',
namespace='/',
name='control',
output='screen',
respawn=False
),
# RQT topic debug tool
Node(
package='rqt_gui',
executable='rqt_gui',
output='screen',
namespace='/',
name='rqt',
respawn=False
),
# RViz data visualization tool
Node(
package='rviz2',
executable='rviz2',
output='screen',
namespace='/',
name='rviz2',
respawn=True,
arguments=['-d', '/home/tentone/Git/tello-slam/workspace/src/rviz.rviz']
),
# Static TF publisher
Node(
package='tf2_ros',
executable='static_transform_publisher',
namespace='/',
name='tf',
arguments=['0', '0', '0', '0', '0', '0', '1', 'map', 'drone'],
respawn=True
),
# ORB SLAM
# Node(
# package='orbslam2',
# executable='mono',
# output='screen',
# namespace='/',
# name='orbslam',
# respawn=True,
# remappings=[
# ('/camera', '/image_raw')
# ],
# arguments=['~/Git/tello-slam/libs/ORB_SLAM2/Vocabulary/ORBvoc.txt', '~/Git/tello-slam/workspace/src/orbslam2/config.yaml']
# ),
# Camera calibration node
# Node(
# package='camera_calibration',
# executable='cameracalibrator',
# output='screen',
# respawn=True,
# namespace='/',
# name='calibration',
# arguments=['--size', '7x9', '--square', '0.20'],
# parameters=[
# {'image': '/image_raw'},
# {'camera': '/camera_info'}
# ]
# )
]
return LaunchDescription(nodes)