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clover.launch
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clover.launch
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<launch>
<arg name="fcu_conn" default="usb"/>
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="fcu_sys_id" default="1"/>
<arg name="gcs_bridge" default="tcp"/>
<arg name="web_video_server" default="true"/>
<arg name="rosbridge" default="true"/>
<arg name="main_camera" default="true"/>
<arg name="optical_flow" default="true"/>
<arg name="aruco" default="false"/>
<arg name="rangefinder_vl53l1x" default="true"/>
<arg name="led" default="true"/>
<arg name="blocks" default="true"/>
<arg name="rc" default="false"/>
<arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
<!-- log formatting -->
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
<!-- mavros -->
<include file="$(find clover)/launch/mavros.launch">
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
<arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
</include>
<!-- web video server -->
<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
<param name="default_stream_type" value="ros_compressed"/>
<param name="publish_rate" value="1.0"/>
</node>
<!-- aruco markers -->
<include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
<!-- optical flow -->
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<param name="calc_flow_gyro" value="true"/>
<param name="roi_rad" value="0.8"/>
</node>
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
<!-- simplified offboard control -->
<node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
<param name="reference_frames/body" value="map"/>
<param name="reference_frames/base_link" value="map"/>
<param name="reference_frames/navigate_target" value="map"/>
<param name="reference_frames/main_camera_optical" value="map"/>
</node>
<!-- main camera -->
<include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)">
<arg name="simulator" value="$(arg simulator)"/>
</include>
<!-- rosbridge -->
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
<!-- tf2 republisher for web visualization -->
<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
<!-- vl53l1x ToF rangefinder -->
<node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(eval rangefinder_vl53l1x and not simulator)">
<param name="frame_id" value="rangefinder"/>
<param name="min_signal" value="0.4"/>
<param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
</node>
<!-- led strip -->
<include file="$(find clover)/launch/led.launch" if="$(arg led)">
<arg name="simulator" value="$(arg simulator)"/>
</include>
<!-- Clover Blocks -->
<node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" if="$(arg blocks)"/>
<!-- rc backend -->
<node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
<!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
<param name="use_fake_gcs" value="false"/>
</node>
<!-- Update static directory -->
<node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
<param name="default_package" value="clover"/>
</node>
</launch>