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| <launch> | ||
| <!-- | ||
| **Test description and date | ||
| --> | ||
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| <!-- | ||
| Parameters | ||
| --> | ||
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| <rosparam file="$(find sailing_robot)/launch/parameters/default.yaml" command="load"/> | ||
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| <rosparam file="$(find sailing_robot)/launch/parameters/calibration_blackpython.yaml" ns="/calibration" command="load"/> | ||
| <rosparam file="$(find sailing_robot)/launch/parameters/sailsettings_blackpython.yaml" command="load"/> | ||
| <rosparam file="$(find sailing_robot)/launch/parameters/servos_blackpython.yaml" command="load"/> | ||
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| <rosparam file="$(find sailing_robot)/launch/parameters/waypoints file" command="load"/> **Add waypoints file(can be found in the parameters directory, sailingClub_waypoints.yaml) | ||
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| <arg name="log_name" value="location_tests" /> **Add log name(sailingclub_tests, eastleigh_tests) | ||
| <param name="log_name" value="$(arg log_name)" /> | ||
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| <!-- | ||
| Nodes | ||
| --> | ||
| <include file="$(find xsens_driver)/launch/xsens_driver.launch" /> | ||
| <node name = "sensor_service_imu" pkg="sailing_robot" type="sensor_service_imu" respawn="true"/> | ||
| <node name = "sensor_driver_gps" pkg='sailing_robot' type="sensor_driver_gps" respawn="true"/> | ||
| <node name = "sensor_driver_imu" pkg="sailing_robot" type="sensor_driver_imu" respawn="true"/> | ||
| <node name = "sensor_driver_wind_direction" pkg="sailing_robot" type="sensor_driver_wind_direction" respawn="true"/> | ||
| <node name = "sensor_driver_multiplexer" pkg="sailing_robot" type="sensor_driver_multiplexer" respawn="true"/> | ||
| <node name = "sensor_processed_wind_direction" pkg="sailing_robot" type="sensor_processed_wind_direction"/> | ||
| <node name = "sensor_driver_battery" pkg="sailing_robot" type="sensor_driver_battery"/> | ||
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| <node name = "tasks" pkg="sailing_robot" type = "tasks" respawn="true"/> | ||
| <node name = "helming" pkg="sailing_robot" type="helming" respawn="true" /> | ||
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| <!-- <node name = "tack" pkg="sailing_robot" type = "tack" respawn="true"/> | ||
| <node name = "actuator_demand_sail" pkg="sailing_robot" type = "actuator_demand_sail" respawn="true"/> | ||
| <node name = "actuator_demand_rudder" pkg="sailing_robot" type = "actuator_demand_rudder" respawn="true"/>--> | ||
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| <node name = "actuator_driver_sail" pkg="sailing_robot" type = "actuator_driver_sail" respawn="true"/> | ||
| <node name = "actuator_driver_rudder" pkg="sailing_robot" type="actuator_driver_rudder" respawn="true"/> | ||
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| <node name="debugging_dump_params" pkg='sailing_robot' type="debugging_dump_params"/> | ||
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| <!-- Rosbag records messages for later investigation --> | ||
| <node name="record" pkg="rosbag" type="record" args="-a -o /home/pi/sailing-robot/$(arg log_name)"/> | ||
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| <!-- Also record GPS data as required by the competition --> | ||
| <node name="debugging_gps_log" pkg='sailing_robot' type="debugging_gps_log" respawn="true"/> | ||
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| <!-- Serve an HTML dashboard so we can see what's going on --> | ||
| <node name = "debugging_dashboard" pkg="sailing_robot" type = "debugging_dashboard" /> | ||
| </launch> |