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Merge pull request #11 from uuvsimulator/fix/set_ned_frame
FIX use_ned_frame was flag to NED inertial frame
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Original file line number | Diff line number | Diff line change |
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@@ -1,20 +1,39 @@ | ||
<launch> | ||
<arg name="record" default="false"/> | ||
<arg name="bag_filename" default="$(find uuv_evaluation)/bags/recording.bag"/> | ||
<arg name="use_ned_frame" default="false"/> | ||
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<node pkg="rosbag" type="record" name="recording" | ||
args="record -O $(arg bag_filename) | ||
/rexrov2/dp_controller/trajectory | ||
/rexrov2/dp_controller/reference | ||
/rexrov2/pose_gt | ||
/hydrodynamics/current_velocity | ||
/rexrov2/thruster_manager/input | ||
/rexrov2/wrench_perturbation | ||
/rexrov2/thrusters/0/thrust | ||
/rexrov2/thrusters/1/thrust | ||
/rexrov2/thrusters/2/thrust | ||
/rexrov2/thrusters/3/thrust | ||
/rexrov2/thrusters/4/thrust | ||
/rexrov2/thrusters/5/thrust" | ||
if="$(arg record)"/> | ||
<group if="$(arg record)"> | ||
<node pkg="rosbag" type="record" name="recording" | ||
args="record -O $(arg bag_filename) | ||
/rexrov2/dp_controller/trajectory | ||
/rexrov2/dp_controller/reference | ||
/rexrov2/pose_gt_ned | ||
/hydrodynamics/current_velocity | ||
/rexrov2/thruster_manager/input | ||
/rexrov2/wrench_perturbation | ||
/rexrov2/thrusters/0/thrust | ||
/rexrov2/thrusters/1/thrust | ||
/rexrov2/thrusters/2/thrust | ||
/rexrov2/thrusters/3/thrust | ||
/rexrov2/thrusters/4/thrust | ||
/rexrov2/thrusters/5/thrust" | ||
if="$(arg use_ned_frame)"/> | ||
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<node pkg="rosbag" type="record" name="recording" | ||
args="record -O $(arg bag_filename) | ||
/rexrov2/dp_controller/trajectory | ||
/rexrov2/dp_controller/reference | ||
/rexrov2/pose_gt | ||
/hydrodynamics/current_velocity | ||
/rexrov2/thruster_manager/input | ||
/rexrov2/wrench_perturbation | ||
/rexrov2/thrusters/0/thrust | ||
/rexrov2/thrusters/1/thrust | ||
/rexrov2/thrusters/2/thrust | ||
/rexrov2/thrusters/3/thrust | ||
/rexrov2/thrusters/4/thrust | ||
/rexrov2/thrusters/5/thrust" | ||
unless="$(arg use_ned_frame)"/> | ||
</group> | ||
</launch> |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,66 @@ | ||
<launch> | ||
<arg name="uuv_name" default="rexrov2"/> | ||
<!-- Flag to start recoding a rosbag --> | ||
<arg name="record" default="false"/> | ||
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<arg name="gui_on" default="true"/> | ||
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<arg name="Kd" default="100.0,100.0,100.0,100.0,100.0,100.0"/> | ||
<arg name="delta" default="10.0,10.0,10.0,10.0,10.0,10.0"/> | ||
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<arg name="teleop_on" default="false"/> | ||
<arg name="joy_id" default="0"/> | ||
<arg name="axis_yaw" default="0"/> | ||
<arg name="axis_x" default="4"/> | ||
<arg name="axis_y" default="3"/> | ||
<arg name="axis_z" default="1"/> | ||
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<!-- Vehicle parameter for the controller --> | ||
<arg name="model_params_file" default="$(find rexrov2_control)/config/model_params.yaml"/> | ||
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<!-- Thruster manager configuration --> | ||
<arg name="thruster_manager_output_dir" default="$(find rexrov2_control)/config"/> | ||
<arg name="thruster_manager_config_file" default="$(find rexrov2_control)/config/thruster_manager.yaml"/> | ||
<arg name="tam_file" default="$(find rexrov2_control)/config/TAM.yaml"/> | ||
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<include file="$(find uuv_trajectory_control)/launch/rov_sf_controller.launch"> | ||
<arg name="uuv_name" value="$(arg uuv_name)"/> | ||
<arg name="gui_on" value="$(arg gui_on)"/> | ||
<arg name="saturation" value="2000"/> | ||
<arg name="Kd" value="$(arg Kd)"/> | ||
<arg name="delta" value="$(arg delta)"/> | ||
<arg name="thruster_manager_output_dir" value="$(arg thruster_manager_output_dir)"/> | ||
<arg name="thruster_manager_config_file" value="$(arg thruster_manager_config_file)"/> | ||
<arg name="tam_file" value="$(arg tam_file)"/> | ||
<arg name="model_params_file" value="$(arg model_params_file)"/> | ||
</include> | ||
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<!-- Initialize the recording fo the simulation according to the record flag --> | ||
<include file="$(find rexrov2_control)/launch/record_demo.launch"> | ||
<arg name="record" value="$(arg record)"/> | ||
<arg name="use_ned_frame" value="$(arg use_ned_frame)"/> | ||
</include> | ||
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<group if="$(arg teleop_on)"> | ||
<!-- Start joystick teleop node --> | ||
<include file="$(find uuv_teleop)/launch/uuv_teleop.launch"> | ||
<arg name="uuv_name" value="$(arg uuv_name)"/> | ||
<arg name="joy_id" value="$(arg joy_id)"/> | ||
<arg name="output_topic" value="cmd_vel"/> | ||
<arg name="message_type" value="twist"/> | ||
<arg name="axis_yaw" value="$(arg axis_yaw)"/> | ||
<arg name="axis_x" value="$(arg axis_x)"/> | ||
<arg name="axis_y" value="$(arg axis_y)"/> | ||
<arg name="axis_z" value="$(arg axis_z)"/> | ||
<arg name="gain_yaw" default="0.2"/> | ||
<arg name="gain_x" default="0.5"/> | ||
<arg name="gain_y" default="0.5"/> | ||
<arg name="gain_z" default="0.5"/> | ||
</include> | ||
</group> | ||
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<group if="$(arg gui_on)"> | ||
<!-- Start RViz --> | ||
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find rexrov2_control)/rviz/rexrov2_control.rviz"/> | ||
</group> | ||
</launch> |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,40 @@ | ||
<launch> | ||
<arg name="record" default="false"/> | ||
<arg name="bag_filename" default="recording.bag"/> | ||
<arg name="use_ned_frame" default="false"/> | ||
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<!-- Vehicle's initial position --> | ||
<arg name="x" default="0"/> | ||
<arg name="y" default="0"/> | ||
<arg name="z" default="-5"/> | ||
<arg name="yaw" default="0"/> | ||
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<arg name="teleop_on" default="false"/> | ||
<arg name="joy_id" default="0"/> | ||
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<include file="$(find uuv_descriptions)/launch/ocean_waves.launch"/> | ||
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<include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch"> | ||
<arg name="timeout" value="5"/> | ||
</include> | ||
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<include file="$(find rexrov2_description)/launch/upload_rexrov2.launch"> | ||
<arg name="x" value="$(arg x)"/> | ||
<arg name="y" value="$(arg y)"/> | ||
<arg name="z" value="$(arg z)"/> | ||
<arg name="yaw" value="$(arg yaw)"/> | ||
<arg name="use_ned_frame" value="$(arg use_ned_frame)"/> | ||
</include> | ||
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<include file="$(find rexrov2_control)/launch/start_mb_fl_controller.launch"> | ||
<arg name="teleop_on" value="$(arg teleop_on)"/> | ||
<arg name="joy_id" value="$(arg joy_id)"/> | ||
<arg name="use_ned_frame" value="$(arg use_ned_frame)"/> | ||
</include> | ||
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<include file="$(find rexrov2_gazebo)/launch/record.launch"> | ||
<arg name="record" value="$(arg record)"/> | ||
<arg name="bag_filename" value="$(arg bag_filename)"/> | ||
</include> | ||
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</launch> |
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