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<!-- 本launch为使用px4_sender进行机载控制时的机载端启动脚本 -->
<launch >
<!-- 启动MAVROS -->
<!-- 不同机载电脑,注意修改fcu_url至正确的端口号及波特率 -->
<node pkg= "mavros" type= "mavros_node" name= "mavros" output= "screen" >
<!-- 不同机载电脑,注意修改fcu_url至正确的端口号及波特率 -->
<param name= "fcu_url" value= "/dev/ttyUSB0:921600" />
<param name= "gcs_url" value= "" />
<param name= "target_system_id" value= "1" />
<param name= "target_component_id" value= "1" />
<rosparam command= "load" file= "$(find prometheus_experiment)/config/mavros_config/px4_pluginlists.yaml" />
<rosparam command= "load" file= "$(find prometheus_experiment)/config/mavros_config/px4_config.yaml" />
</node>
<!-- vrpn -->
<include file= "$(find vrpn_client_ros)/launch/sample.launch" >
<arg name= "server" value= "192.168.1.2" />
</include>
<!-- run the px4_pos_estimator.cpp -->
<node pkg= "prometheus_control" type= "px4_pos_estimator" name= "px4_pos_estimator" output= "screen" >
<!-- 0 for vicon， -->
<param name= "input_source" value= "0" />
<!-- 如果使用动作捕捉系统， ， -->
<param name= "object_name" value= "UAV" />
<param name= "rate_hz" value= "20.0" />
</node>
<!-- run the px4_sender.cpp -->
<node pkg= "prometheus_control" type= "px4_sender" name= "px4_sender" output= "screen" >
<rosparam command= "load" file= "$(find prometheus_experiment)/config/prometheus_control_config/px4_sender.yaml" />
</node>
</launch>
