forked from xtdrone/XTDrone
55 lines
1.9 KiB
XML
55 lines
1.9 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!--
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Author: Rahul Kumar Bhadani
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Copyright (c) 2018 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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-->
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<launch>
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<param name="enable_statistics" value="true" />
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<arg name="robot" default="catvehicle"/>
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<arg name="leader" default="toyota"/>
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<arg name="dx_min" default = "4.5"/>
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<arg name="dx_activate" default = "6.0"/>
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<group ns="$(arg robot)">
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<node name="velocityEstimator" pkg="catvehicle" type="velocityEstimator" output="screen">
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<param name="dist_topic" value="/$(arg robot)/distanceEstimatorSteeringBased/dist"/>
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<param name="vel_topic" value="/$(arg robot)/v_relative"/>
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</node>
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<node pkg="fs" type="fs_node" name="fs_$(arg robot)" output="screen" required="true">
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<remap from="v_ref" to="/$(arg leader)/vel"/>
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<remap from="d_relative" to="/$(arg robot)/distanceEstimatorSteeringBased/dist"/>
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</node>
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</group>
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</launch>
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