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38 lines
1.7 KiB
Plaintext
Executable File
38 lines
1.7 KiB
Plaintext
Executable File
<launch>
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<!-- Verify all the required nodes basically work -->
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<node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
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<param name="fcu_url" value="udp://@127.0.1:14557"/>
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<rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
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</node>
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<node name="visualization" pkg="mavros_extras" type="visualization" required="true">
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<remap to="mavros/local_position/pose" from="local_position"/>
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<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
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<param name="fixed_frame_id" value="map"/>
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<param name="child_frame_id" value="base_link"/>
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<param name="marker_scale" value="1"/>
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<param name="max_track_size" value="20"/>
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<param name="num_rotors" value="4"/>
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</node>
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<node name="web_video_server" pkg="web_video_server" type="web_video_server" required="true" output="screen">
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<param name="default_stream_type" value="ros_compressed"/>
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<param name="publish_rate" value="1.0"/>
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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" required="true"/>
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<node name="simple_offboard" pkg="clever" type="simple_offboard" required="true" output="screen">
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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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<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>
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<node name="rc" pkg="clever" type="rc" required="true" output="screen"/>
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<param name="test_module" value="$(find clever)/test/basic.py"/>
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<test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
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</launch>
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