test.launch

<launch>	
	<rosparam file="$(find pc_wp)/config/mission.yaml" />
	<rosparam file="$(find pc_wp)/config/rospy.yaml" />
	<rosparam file="$(find pc_wp)/config/task_manager.yaml" />
	<rosparam file="$(find pc_wp)/config/frame.yaml" />
	<rosparam file="$(find pc_wp)/config/pid.yaml" />
	<rosparam file="$(find pc_wp)/config/references.yaml" />
	<node pkg="pc_wp" type="control.py" name="control" output="screen"/>
	<node pkg="pc_wp" type="pitch_task.py" name="pitch_task" output="screen"/>
	<node pkg="pc_wp" type="yaw_task.py" name="yaw_task" output="screen"/>
	<node pkg="pc_wp" type="surge_task.py" name="surge_task" output="screen"/>
	<node pkg="pc_wp" type="approach_task.py" name="approach_task" output="screen"/>
	<node pkg="pc_wp" type="heave_task.py" name="heave_task" output="screen"/>
	<node pkg="pc_wp" type="task_manager.py" name="task_manager" output="screen"/>
	<node pkg="pc_wp" type="navigation.py" name="navigation"/>
	<node name ="model"   pkg="modellazione" type="model"/>

	<!--<node name="plot_pos" pkg="rqt_plot" type="rqt_plot" args="/state_real/eta_1"/>
	<node name="plot_rpy" pkg="rqt_plot" type="rqt_plot" args="/state_real/eta_2"/>
	<node name="plot_force" pkg="rqt_plot" type="rqt_plot" args="/tau/tau/force"/>
	<node name="plot_torque" pkg="rqt_plot" type="rqt_plot" args="/tau/tau/torque"/>
	<node name="plot_ni_2" pkg="rqt_plot" type="rqt_plot" args="/state_real/ni_2"/>
	<node name="plot_ni_1" pkg="rqt_plot" type="rqt_plot" args="/state_real/ni_1"/>-->
</launch>