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<launch>
<arg name="record" default="false"/>
<arg name="bag_filename" default="recording.bag"/>
<arg name="use_ned_frame" default="false"/>
<group if="$(arg record)">
<!--
Record the odometry generated from the base_link_ned wrt world_ned using
North-East-Down convention
-->
<node pkg="rosbag" type="record" name="recording"
args="record -O $(arg bag_filename)
/rexrov/dp_controller/trajectory
/rexrov/dp_controller/reference
/rexrov/pose_gt_ned
/hydrodynamics/current_velocity
/rexrov/thruster_manager/input
/rexrov/wrench_perturbation
/rexrov/thrusters/0/thrust
/rexrov/thrusters/1/thrust
/rexrov/thrusters/2/thrust
/rexrov/thrusters/3/thrust
/rexrov/thrusters/4/thrust
/rexrov/thrusters/5/thrust
/rexrov/thrusters/6/thrust
/rexrov/thrusters/7/thrust"
if="$(arg use_ned_frame)"/>
<!--
Record the odometry generated from the base_link wrt world using
East-North-Up convention
-->
<node pkg="rosbag" type="record" name="recording"
args="record -O $(arg bag_filename)
/rexrov/dp_controller/trajectory
/rexrov/dp_controller/reference
/rexrov/pose_gt
/hydrodynamics/current_velocity
/rexrov/thruster_manager/input
/rexrov/wrench_perturbation
/rexrov/thrusters/0/thrust
/rexrov/thrusters/1/thrust
/rexrov/thrusters/2/thrust
/rexrov/thrusters/3/thrust
/rexrov/thrusters/4/thrust
/rexrov/thrusters/5/thrust
/rexrov/thrusters/6/thrust
/rexrov/thrusters/7/thrust"
unless="$(arg use_ned_frame)"/>
</group>
</launch>
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