forked from xtdrone/XTDrone
44 lines
2.0 KiB
XML
44 lines
2.0 KiB
XML
<?xml version="1.0"?>
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<launch>
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<arg name="max_angle" default="$(eval pi/2)"/>
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<arg name="thrust_config" default="H"/>
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<arg name="namespace" default="wamv"/>
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<!-- Keyboard teleop -->
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<node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop_twist_keyboard" output="screen">
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</node>
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<!-- Two cases for different topic names for rear thrusters -->
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<!-- Case 1 -->
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<group if="$(eval (arg('thrust_config') == 'H' or arg('thrust_config') == 'T') )">
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<!-- Set articulation angles -->
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<node pkg="vrx_gazebo" type="key2thrust_angle.py" name="key2thrust_angle" output="screen">
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<param name="max_angle" value="$(arg max_angle)"/>
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<remap from="left_thrust_angle" to="/$(arg namespace)/thrusters/left_thrust_angle"/>
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<remap from="right_thrust_angle" to="/$(arg namespace)/thrusters/right_thrust_angle"/>
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</node>
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<!-- Convert Twist messages (from keyboard teleop) to Drive messages -->
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<node pkg="vrx_gazebo" type="twist2thrust.py" name="twist2thrust" output="screen" args="--keyboard">
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<remap from="left_cmd" to="/$(arg namespace)/thrusters/left_thrust_cmd"/>
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<remap from="right_cmd" to="/$(arg namespace)/thrusters/right_thrust_cmd"/>
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</node>
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</group>
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<!-- Case 1 -->
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<group if="$(eval arg('thrust_config') == 'X')">
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<!-- Set articulation angles -->
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<node pkg="vrx_gazebo" type="key2thrust_angle.py" name="key2thrust_angle" output="screen">
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<param name="max_angle" value="$(arg max_angle)"/>
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<remap from="left_thrust_angle" to="/$(arg namespace)/thrusters/left_rear_thrust_angle"/>
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<remap from="right_thrust_angle" to="/$(arg namespace)/thrusters/right_rear_thrust_angle"/>
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</node>
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<!-- Convert Twist messages (from keyboard teleop) to Drive messages -->
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<node pkg="vrx_gazebo" type="twist2thrust.py" name="twist2thrust" output="screen" args="--keyboard">
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<remap from="left_cmd" to="/$(arg namespace)/thrusters/left_rear_thrust_cmd"/>
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<remap from="right_cmd" to="/$(arg namespace)/thrusters/right_rear_thrust_cmd"/>
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</node>
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</group>
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</launch>
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