Mike Hamer
9297e938c7
Will now publish video frames as soon as received if fullspeed_video=true. Unfortunately to do this we needed to do a few dirty hacks, implying that our architecture is no longer so suitable for the future direction of the driver. We need to talk about an architectural redesign perhaps...
76 linhas
3.8 KiB
XML
76 linhas
3.8 KiB
XML
<!-- This is a sample lanuch file, please change it based on your needs -->
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<launch>
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<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
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<!-- Modifies the drone's onboard parameters. If not specified, drone default will be used (consult SDK or ardrone_autonomy wiki) -->
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<param name="outdoor" value="1" />
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<param name="flight_without_shell" value="1" />
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<param name="navdata_demo" value="0" />
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<param name="max_bitrate" value="2000" />
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<param name="bitrate" value="2000" />
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<param name="video_codec" value="129" />
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<param name="altitude_max" value="5000" />
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<param name="altitude_min" value="300" />
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<param name="control_vz_max" value="2000" />
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<param name="control_yaw" value="6.11" />
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<param name="euler_angle_max" value="0.35" />
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<param name="detect_type" value="10" />
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<param name="detections_select_h" value="128" />
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<param name="detections_select_v_hsync" value="32" />
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<param name="enemy_colors" value="3" />
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<param name="enemy_without_shell" value="0" />
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<param name="do_imu_caliberation" value="false" />
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<param name="tf_prefix" value="mydrone" />
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<!-- Enables the standard /ardrone/navdata, imu and mag topics. If not specified, defaults to TRUE -->
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<param name="enable_legacy_navdata" value="true" />
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<!-- Enables the new-style, full information navdata packets. If not specified, defaults to FALSE -->
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<param name="enable_navdata_demo" value="true" />
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<param name="enable_navdata_time" value="true" />
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<param name="enable_navdata_raw_measures" value="true" />
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<param name="enable_navdata_phys_measures" value="true" />
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<param name="enable_navdata_gyros_offsets" value="true" />
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<param name="enable_navdata_euler_angles" value="true" />
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<param name="enable_navdata_references" value="true" />
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<param name="enable_navdata_trims" value="true" />
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<param name="enable_navdata_rc_references" value="true" />
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<param name="enable_navdata_pwm" value="true" />
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<param name="enable_navdata_altitude" value="true" />
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<param name="enable_navdata_vision_raw" value="true" />
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<param name="enable_navdata_vision_of" value="true" />
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<param name="enable_navdata_vision" value="true" />
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<param name="enable_navdata_vision_perf" value="true" />
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<param name="enable_navdata_trackers_send" value="true" />
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<param name="enable_navdata_vision_detect" value="true" />
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<param name="enable_navdata_watchdog" value="true" />
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<param name="enable_navdata_adc_data_frame" value="true" />
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<param name="enable_navdata_video_stream" value="true" />
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<param name="enable_navdata_games" value="true" />
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<param name="enable_navdata_pressure_raw" value="true" />
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<param name="enable_navdata_magneto" value="true" />
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<param name="enable_navdata_wind_speed" value="true" />
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<param name="enable_navdata_kalman_pressure" value="true" />
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<param name="enable_navdata_hdvideo_stream" value="true" />
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<param name="enable_navdata_wifi" value="true" />
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<param name="enable_navdata_zimmu_3000" value="true" />
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<!-- Tunes the speed at which the ros loop runs, and thus, the rate at which navdata is published -->
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<param name="looprate" value="50" />
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<!-- Do we want to publish new-style navdata when received (true), or every time the ros-loop runs (false)? -->
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<!-- (does not affect legacy navdata, which is always published at ros-loop rate) -->
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<param name="fullspeed_navdata" value="true" />
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<param name="fullspeed_video" value="true" />
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<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
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<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
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<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
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<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
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</node>
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</launch>
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