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crazyflie_add_single.launch
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crazyflie_add_single.launch
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<?xml version="1.0"?>
<launch>
<arg name="uri" default="radio://0/80/250K" />
<arg name="tf_prefix" default="cf1" />
<!-- Parameters -->
<arg name="roll_trim" default="0" />
<arg name="pitch_trim" default="0" />
<arg name="enable_logging" default="True" />
<arg name="use_ros_time" default="True" />
<arg name="enable_logging_imu" default="False" />
<arg name="enable_logging_temperature" default="False" />
<arg name="enable_logging_magnetic_field" default="False" />
<arg name="enable_logging_pressure" default="False" />
<arg name="enable_logging_battery" default="False" />
<arg name="enable_logging_packets" default="True" />
<!-- Launch the server node ! Be sure it's only launch once -->
<include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
</include>
<group ns="$(arg tf_prefix)">
<node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
<param name="uri" value="$(arg uri)" />
<param name="tf_prefix" value="$(arg tf_prefix)" />
<param name="roll_trim" value="$(arg roll_trim)" />
<param name="pitch_trim" value="$(arg pitch_trim)" />
<param name="enable_logging" value="$(arg enable_logging)" />
<param name="use_ros_time" value="$(arg use_ros_time)" />
<param name="enable_logging_imu" value="$(arg enable_logging_imu)" />
<param name="enable_logging_temperature" value="$(arg enable_logging_temperature)" />
<param name="enable_logging_magnetic_field" value="$(arg enable_logging_magnetic_field)" />
<param name="enable_logging_pressure" value="$(arg enable_logging_pressure)" />
<param name="enable_logging_battery" value="$(arg enable_logging_battery)" />
<param name="enable_logging_packets" value="$(arg enable_logging_packets)"/>
<!-- Custom log usually used in simulation -->
<rosparam>
genericLogTopics: ["local_position","target_position"]
genericLogTopicFrequencies: [10,10]
genericLogTopic_pos_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z"]
genericLogTopic_targetPos_Variables: ["posCtl.targetX", "posCtl.targetY", "posCtl.targetZ"]
</rosparam>
</node>
</group>
</launch>