diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..7d355b72b8ba8750d44b455ae53ee2ed82c5faeb --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +.settings +.vscode/ +build/ diff --git a/launch/demo_bodydynamics.launch b/launch/demo_bodydynamics.launch new file mode 100644 index 0000000000000000000000000000000000000000..a4d3a6623a2c12e34c794c9574ac4d01ce14a396 --- /dev/null +++ b/launch/demo_bodydynamics.launch @@ -0,0 +1,38 @@ +<!-- --> +<launch> + <!--USER ARGS--> + <arg name="rviz" default="true" /> + <arg name="speed" default="1" /> + <arg name="sec" default="0" /> + <arg name="sim_time" default="true" /> + + <arg name="profiling" default="false" /> + <arg name="gdb" default="false" /> + <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/> + <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" /> + <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" /> + + <arg name="bag" default="rosbag_hovering"/> + + + <!--VISUALIZATION--> + <group if="$(arg rviz)"> + <node name="rviz" + pkg="rviz" + type="rviz" + args="-d $(find wolf_demo_uav_identification)/rviz/online.rviz" /> + </group> + + <!--WOLF--> + <node type="wolf_ros_node" + name="wolf_ros_node" + pkg="wolf_ros_node" + output="screen" + required="true" + launch-prefix="$(arg launch_pref)"> + <param name="~yaml_file_path" value="$(find wolf_demo_uav_identification)/yaml/problem_force_torque_inertial_dynamics_simulation.yaml" /> + <remap from="/wrench_accel" to="/fmu/sensor_accel/out"/> + <remap from="/wrench_gyro" to="/fmu/sensor_gyro/out"/> + <remap from="/wrench_actuators" to="/fmu/actuator_outputs/out"/> + </node> +</launch>