Skip to content
Permalink
Branch: master
Find file Copy path
Find file Copy path
Fetching contributors…
Cannot retrieve contributors at this time
43 lines (34 sloc) 1.81 KB
<?xml version="1.0"?>
<launch>
<arg name="uri" default="radio://0/90/2M" />
<arg name="frame" default="/vicon/cf/cf" />
<include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
</include>
<group ns="crazyflie">
<node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
<param name="uri" value="$(arg uri)" />
<param name="tf_prefix" value="crazyflie" />
<param name="enable_logging_imu" value="False" />
<param name="enable_logging_temperature" value="False" />
<param name="enable_logging_magnetic_field" value="False" />
<param name="enable_logging_pressure" value="False" />
<param name="enable_logging_battery" value="False" />
<param name="enable_logging_packets" value="False" />
<rosparam>
genericLogTopics: ["log1"]
genericLogTopicFrequencies: [100]
genericLogTopic_log1_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z"]
</rosparam>
</node>
<node name="pose" pkg="crazyflie_demo" type="publish_external_position_vicon.py" output="screen">
<param name="topic" value="$(arg frame)" />
</node>
<node pkg="tf" type="static_transform_publisher" name="baselink_broadcaster" args="0 0 0 0 0 0 1 $(arg frame) /crazyflie/base_link 100" />
</group>
<!-- run vicon bridge -->
<include file="$(find vicon_bridge)/launch/vicon.launch"/>
<!-- run rviz -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find crazyflie_description)/urdf/crazyflie.urdf.xacro" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyflie_demo)/launch/crazyflie_pos.rviz" required="true" />
<node pkg="rqt_plot" type="rqt_plot" name="rqt_plot1" args="/crazyflie/log1/values[0] /crazyflie/log1/values[1] /crazyflie/log1/values[2]"/>
</launch>
You can’t perform that action at this time.