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<?xml version="1.0"?>
<launch>
<arg name="uri" default="radio://0/80/2M" />
<arg name="joy_dev" default="/dev/input/js0" />
<include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
</include>
<group ns="crazyflie">
<!--<param name="crazyflie/pid_rate/yaw_kp" value="200"/>-->
<include file="$(find crazyflie_driver)/launch/crazyflie_add.launch">
<arg name="uri" value="$(arg uri)" />
<arg name="tf_prefix" value="crazyflie" />
<arg name="enable_logging" value="True" />
</include>
<node name="joy" pkg="joy" type="joy_node" output="screen" >
<param name="dev" value="$(arg joy_dev)" />
</node>
<include file="$(find crazyflie_demo)/launch/xbox360.launch">
</include>
<node name="crazyflie_demo_controller" pkg="crazyflie_demo" type="controller.py" output="screen">
</node>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find crazyflie_demo)/launch/crazyflie.rviz" />
<!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot" args="/crazyflie/temperature/temperature"/> -->
<node pkg="rqt_plot" type="rqt_plot" name="rqt_plot2" args="/crazyflie/battery"/>
<node pkg="rqt_plot" type="rqt_plot" name="rqt_plot3" args="/crazyflie/rssi"/>
</launch>
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