CopterExpress/clover
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Add maintain_camera_rate argument to simulator.launch

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Oleg Kalachev
2021-10-06 23:54:19 +03:00
parent 7fd463d1cb
commit 3e3c5aa453
1 changed files with 2 additions and 0 deletions
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2
clover_simulation/launch/simulator.launch
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@@ -4,6 +4,7 @@
<arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
<arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
<arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
<arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
<arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
<arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
<arg name="gps" default="false"/> <!--Simulated GPS module -->
@@ -28,6 +29,7 @@
<!-- Clover model -->
<include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
<arg name="main_camera" value="$(arg main_camera)"/>
<arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
<arg name="rangefinder" value="$(arg rangefinder)"/>
<arg name="led" value="$(arg led)"/>
<arg name="gps" value="$(arg gps)"/>