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Adjust launch file arguments for more convenient configuration

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This commit is contained in:
Oleg Kalachev
2020-07-21 10:03:40 +03:00
parent fa9a1794f6
commit cda7e62dbf
3 changed files with 27 additions and 18 deletions
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2
clover/launch/aruco.launch
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@@ -1,5 +1,5 @@
<launch> <launch>
<arg name="aruco_detect" default="true"/> <arg name="aruco_detect" default="false"/>
<arg name="aruco_map" default="false"/> <arg name="aruco_map" default="false"/>
<arg name="aruco_vpe" default="false"/> <arg name="aruco_vpe" default="false"/>

32
clover/launch/clover.launch
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@@ -1,16 +1,15 @@
<launch> <launch>
<arg name="fcu_conn" default="usb"/> <arg name="fcu_conn" default="usb"/> <!-- FCU connection type: usb, uart, tcp, udp, sitl -->
<arg name="fcu_ip" default="127.0.0.1"/> <arg name="fcu_ip" default="127.0.0.1"/> <!-- FCU IP adddress (if using TCP/UDP) -->
<arg name="fcu_sys_id" default="1"/> <arg name="fcu_sys_id" default="1"/> <!-- MAVLink system ID, noeditor -->
<arg name="gcs_bridge" default="tcp"/> <arg name="gcs_bridge" default="tcp"/> <!-- GCS bridge type: tcp, udp, udp-b, udp-pb -->
<arg name="web_video_server" default="true"/> <arg name="web_video_server" default="true"/> <!-- web video server enabled -->
<arg name="rosbridge" default="true"/> <arg name="rosbridge" default="true"/> <!-- rosbridge_suite enabled, noeditor -->
<arg name="main_camera" default="true"/> <arg name="main_camera" default="true"/> <!-- main camera enabled -->
<arg name="optical_flow" default="true"/> <arg name="optical_flow" default="true"/> <!-- optical flow enabled -->
<arg name="aruco" default="false"/> <arg name="rangefinder_vl53l1x" default="true"/> <!-- VL53l1X rangefinder enabled -->
<arg name="rangefinder_vl53l1x" default="true"/> <arg name="led" default="true"/> <!-- LED strip driver enabled -->
<arg name="led" default="true"/> <arg name="rc" default="true"/> <!-- support for mobile RC enabled -->
<arg name="rc" default="true"/>
<arg name="shell" default="true"/> <arg name="shell" default="true"/>
<!-- log formatting --> <!-- log formatting -->
@@ -31,7 +30,7 @@
</node> </node>
<!-- aruco markers --> <!-- aruco markers -->
<include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/> <include file="$(find clover)/launch/aruco.launch"/>
<!-- optical flow --> <!-- optical flow -->
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen"> <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
@@ -87,4 +86,11 @@
<node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true"> <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
<param name="default_package" value="clover"/> <param name="default_package" value="clover"/>
</node> </node>
<!-- roslaunch editor parameters -->
<group ns="roslaunch_editor">
<param name="items" type="yaml" value="[clover/clover.launch, clover/main_camera.launch, clover/aruco.launch, clover/led.launch]"/>
<param name="apply_command" value="sudo systemctl restart clover"/>
<param name="hide_uncommented" value="true"/>
</group>
</launch> </launch>

11
clover/launch/led.launch
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@@ -1,7 +1,7 @@
<launch> <launch>
<arg name="ws281x" default="true"/> <arg name="ws281x" default="true"/> <!-- LED strip driver enabled -->
<arg name="led_effect" default="true"/> <arg name="led_effect" default="true"/> <!-- LED effect API enabled -->
<arg name="led_notify" default="true"/> <arg name="led_notify" default="all"/> <!-- LED strip notifications: all, battery, none -->
<!-- For additional help go to https://clover.coex.tech/led --> <!-- For additional help go to https://clover.coex.tech/led -->
@@ -22,7 +22,7 @@
<param name="fade_period" value="0.5"/> <param name="fade_period" value="0.5"/>
<param name="rainbow_period" value="5"/> <param name="rainbow_period" value="5"/>
<!-- events effects table --> <!-- events effects table -->
<rosparam param="notify" if="$(arg led_notify)"> <rosparam param="notify" if="$(eval led_notify == 'all')">
startup: { r: 255, g: 255, b: 255 } startup: { r: 255, g: 255, b: 255 }
connected: { effect: rainbow } connected: { effect: rainbow }
disconnected: { effect: blink, r: 255, g: 50, b: 50 } disconnected: { effect: blink, r: 255, g: 50, b: 50 }
@@ -34,5 +34,8 @@
low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 } low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
error: { effect: flash, r: 255, g: 0, b: 0 } error: { effect: flash, r: 255, g: 0, b: 0 }
</rosparam> </rosparam>
<rosparam param="notify" if="$(eval led_notify == 'battery')">
low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
</rosparam>
</node> </node>
</launch> </launch>