From 3616f29589afafd393b8260276692d0d1fc4445b Mon Sep 17 00:00:00 2001
From: asanjuan <asanjuan@iri.upc.edu>
Date: Thu, 22 Sep 2022 09:33:41 +0200
Subject: [PATCH] Leftovers and gitignore

---
 .gitignore                      |  3 +++
 launch/demo_bodydynamics.launch | 38 +++++++++++++++++++++++++++++++++
 2 files changed, 41 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 launch/demo_bodydynamics.launch

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..7d355b7
--- /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 0000000..a4d3a66
--- /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>
-- 
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