mirror of
https://github.com/CopterExpress/clover.git
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77 lines
3.3 KiB
XML
77 lines
3.3 KiB
XML
<launch>
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<arg name="fcu_conn" default="usb"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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<arg name="gcs_bridge" default="tcp"/>
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<arg name="web_video_server" default="true"/>
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<arg name="rosbridge" default="true"/>
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<arg name="main_camera" default="true"/>
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<arg name="optical_flow" default="false"/>
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<arg name="aruco" default="false"/>
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<arg name="rc" default="true"/>
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<arg name="rangefinder_vl53l1x" default="false"/>
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<arg name="arduino" default="false"/>
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<!-- mavros -->
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<include file="$(find clever)/launch/mavros.launch">
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<arg name="fcu_conn" value="$(arg fcu_conn)"/>
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<arg name="fcu_ip" value="$(arg fcu_ip)"/>
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<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
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</include>
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<!-- web video server -->
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<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
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<param name="default_stream_type" value="ros_compressed"/>
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</node>
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<!-- aruco markers -->
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<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
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<!-- optical flow -->
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<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="calc_flow_gyro" value="true"/>
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</node>
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<!-- main nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
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<param name="num_worker_threads" value="2"/>
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</node>
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<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
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<!-- simplified offboard control -->
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<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
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<param name="reference_frames/body" value="map"/>
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<param name="reference_frames/base_link" value="map"/>
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</node>
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<!-- Auxiliary frames -->
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<node name="frames" pkg="clever" type="frames" output="screen">
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<param name="body/frame_id" value="body"/>
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</node>
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<!-- main camera -->
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<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
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<!-- rosbridge -->
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
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<!-- tf2 republisher for web visualization -->
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<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
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<!-- vl53l1x ToF rangefinder -->
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<node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
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<param name="frame_id" value="rangefinder"/>
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<remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
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</node>
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<!-- rc backend -->
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<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
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<!-- Arduino bridge -->
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<node pkg="rosserial_python" type="serial_node.py" name="serial_node" output="screen" if="$(arg arduino)">
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<param name="port" value="/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"/>
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</node>
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</launch>
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