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Move copter_visualization.launch to mavros.launch

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This commit is contained in:
Oleg Kalachev
2018-09-16 04:43:16 +03:00
parent de8ba52643
commit 091e110afd
2 changed files with 9 additions and 13 deletions
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12
clever/launch/copter_visualization.launch
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@@ -1,12 +0,0 @@
<launch>
<remap to="mavros/local_position/pose" from="local_position"/>
<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
<node name="copter_visualization" pkg="mavros_extras" type="copter_visualization"/>
<param name="copter_visualization/fixed_frame_id" value="local_origin"/>
<param name="copter_visualization/child_frame_id" value="fcu"/>
<param name="copter_visualization/marker_scale" value="1"/>
<param name="copter_visualization/max_track_size" value="500"/>
<param name="copter_visualization/num_rotors" value="4"/>
</launch>

10
clever/launch/mavros.launch
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@@ -82,5 +82,13 @@
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
<!-- Copter visualization -->
<include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
<node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
<remap to="mavros/local_position/pose" from="local_position"/>
<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
<param name="copter_visualization/fixed_frame_id" value="local_origin"/>
<param name="copter_visualization/child_frame_id" value="fcu"/>
<param name="copter_visualization/marker_scale" value="1"/>
<param name="copter_visualization/max_track_size" value="20"/>
<param name="copter_visualization/num_rotors" value="4"/>
</node>
</launch>