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<launch>
<!-- Remember to first launch Gazebo with a underwater world model
Example:
>> roslaunch uuv_description ocean_waves.launch
or
>> roslaunch uuv_description empty_underwater_world.launch
The default joystick configuration is set for the XBox 360 controller
-->
<arg name="namespace" default="rexrov"/>
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="-85"/>
<arg name="yaw" default="0.0"/>
<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"/>
<include file="$(find uuv_descriptions)/launch/upload_rexrov_default.launch">
<arg name="mode" value="sonar"/>
<arg name="namespace" value="$(arg namespace)"/>
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="yaw" value="$(arg yaw)"/>
</include>
<include file="$(find uuv_thruster_manager)/launch/thruster_manager.launch">
<arg name="uuv_name" value="$(arg namespace)" />
<arg name="model_name" value="rexrov" />
</include>
<group ns="$(arg namespace)">
<rosparam file="$(find uuv_control_cascaded_pid)/config/rexrov/inertial.yaml" command="load"/>
<rosparam file="$(find uuv_control_cascaded_pid)/config/rexrov/vel_pid_control.yaml" command="load"/>
<node pkg="uuv_control_cascaded_pid" type="AccelerationControl.py" name="acceleration_control"
output="screen">
<param name="tf_prefix" type="string" value="$(arg namespace)/" />
</node>
<node pkg="uuv_control_cascaded_pid" type="VelocityControl.py" name="velocity_control"
output="screen">
<remap from="odom" to="/$(arg namespace)/pose_gt"/>
<remap from="cmd_accel" to="/$(arg namespace)/cmd_accel"/>
</node>
</group>
<include file="$(find uuv_teleop)/launch/uuv_teleop.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
<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)"/>
</include>
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find uuv_gazebo)/rviz/rexrov_sonar.rviz"/>
</launch>
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