drone-rigide/launch/internal_tun.launch

<launch>
  <remap from="/reset" to="/bebop/reset"/>
  <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
  <node name="Ratex_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratex $(find detect_targets)/params/settings_test_D_rate.yaml"/>
  <node name="Ratey_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratey $(find detect_targets)/params/settings_test_D_rate.yaml"/>
  <node name="Dx_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dx $(find detect_targets)/params/settings_test_D.yaml"/>
  <node name="Dy_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dy $(find detect_targets)/params/settings_test_D.yaml"/>
  <node name="safe_param" pkg="dynamic_reconfigure" type="dynparam" args="load /safe $(find detect_targets)/params/settings_safe.yaml"/>
  <node name="targets_param" pkg="dynamic_reconfigure" type="dynparam" args="load /targets $(find detect_targets)/params/settings_blue.yaml"/>
  <include file="$(find bebop_driver)/launch/bebop_node.launch" />

  <node name="targets" pkg="detect_targets" type="target_publisher.py">
  </node>

  <node name="triangle" pkg="detect_targets" type="triangle.py" output="screen">
    <remap from="component_centers" to="targets"/>
  </node>

  <node name="untwist" pkg="detect_targets" type="untwist.py" output="screen">
    <remap from="input" to="/bebop/cmd_vel" />
  </node>
  <node name="ratex" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
    <remap from="input" to="linear_x" />
    <remap from="output" to="derivative_x_input" />
  </node>
  <node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
    <remap from="input" to="derivative_x_input" />
    <remap from="output" to="measure_x" />
  </node>
  <node name="ratey" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
    <remap from="input" to="linear_y" />
    <remap from="output" to="derivative_y_input" />
  </node>
  <node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
    <remap from="input" to="derivative_y_input" />
    <remap from="output" to="measure_y" />
  </node>

  <node name="safe" pkg="demo_teleop" type="safe_drone_teleop.py" output="screen" launch-prefix="xterm -e">
    <remap from="takeoff" to="/bebop/takeoff"/>
    <remap from="land" to="/bebop/land"/>
    <remap from="cmd_vel_out" to="/bebop/cmd_vel"/>
    <remap from="cmd_vel_in" to="/cmd_vel"/>
  </node>

  <node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
  <node name="view_targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>

  <node name="plot" pkg="rqt_plot" type="rqt_plot" args="/measure_x /measure_linear_x">

  </node>

  <node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
</launch>