hand_control/launch/ardrone.launch

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Copyright © 2015 CentraleSupélec

This file is part of Hand Control.

Hand Control is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
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Hand Control is distributed in the hope that it will be useful,
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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You should have received a copy of the GNU General Public License
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-->
<!-- cf ARDrone Developer Guide -->
<launch>
  <node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">

    <!-- indoor -->
    <param name="outdoor" value="0" />

    <param name="max_bitrate" value="4000" />
    <param name="bitrate" value="4000" />

    <!-- 0 : 15Hz, drone sends a reduced set
    of navigation data (without debugging info) -->
    <!-- 1 : 200Hz -->
    <param name="navdata_demo" value="0" />

    <param name="flight_without_shell" value="0" />
    
    <!-- in mm -->
    <param name="altitude_max" value="8000" /><!-- 2 m -->
    <param name="altitude_min" value="50" />

    <!-- in radians,  between 0. and 0.52 (30°) -->
    <param name="euler_angle_max" value="0.21" /> 

    <!-- maximum vertical speed, in mm/s -->
    <!-- between 200 and 2000 -->
    <param name="control_vz_max" value="700" />

    <!-- maximum yaw speed, in radians/s -->
    <!-- betwenn 0.7 and 6.11 -->
    <param name="control_yaw" value="1.75" />


    <!-- ROS driver parameters -->
      <param name="do_imu_caliberation" value="false" />
      <param name="tf_prefix" value="mydrone" />
      <!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
      <rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
      <rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
      <rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
  </node>
</launch>