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<?xml version="1.0"?>
<launch>
<arg name="uri" default="radio://0/90/2M" />
<arg name="frame" default="/vicon/crazyflie/crazyflie" />
<arg name="joy_dev" default="/dev/input/js0" />
<arg name="x" default="0" />
<arg name="y" default="0" />
<arg name="z" default="0.5" />
<include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
</include>
<group ns="crazyflie">
<include file="$(find crazyflie_driver)/launch/crazyflie_add.launch">
<arg name="uri" value="$(arg uri)" />
<arg name="tf_prefix" value="crazyflie" />
<arg name="enable_logging" value="False" />
</include>
<node name="joy" pkg="joy" type="joy_node" output="screen">
<param name="dev" value="$(arg joy_dev)" />
</node>
<node name="joystick_controller" pkg="crazyflie_demo" type="controller.py" output="screen">
<param name="use_crazyflie_controller" value="True" />
</node>
<include file="$(find crazyflie_controller)/launch/crazyflie2.launch">
<arg name="frame" value="$(arg frame)" />
</include>
<node name="pose" pkg="crazyflie_demo" type="publish_pose_teleop.py" output="screen">
<param name="name" value="goal" />
<param name="rate" value="10" />
<param name="x" value="$(arg x)" />
<param name="y" value="$(arg y)" />
<param name="z" value="$(arg z)" />
</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" />
</launch>
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