hand_control/launch/ardrone.launch
2015-09-18 16:52:52 +02:00

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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
(at your option) any later version.
Hand Control is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
-->
<!-- 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>