hover_so3_lite.launch

<launch>
    <node pkg="mavlink_message" type="mavlink_message" name="mavlink" output="screen">
    </node>

    <node pkg="pos_cmd_generator" type="pos_cmd_generator" name="pos_cmd_generator" output="screen">
        <rosparam file="$(find pos_cmd_generator)/config/set_pos_param.yaml"/>
        <remap from="~odom" to="/monocular_ukf/odom"/>
        <remap from="~sonar_dis" to="/sonar_dis/sonar_dis"/> 
        <remap from="~tera" to="/teraranger/timeofflight"/> 
        <remap from="~auto_cmd" to="/trajectory_generator/position_cmd"/>
    </node>

    <node pkg="so3_controller" type="so3_control_lite" name="so3_control" output="screen">
        <remap from="~odom" to="/monocular_ukf/odom"/>
        <remap from="~des_pos" to="/pos_cmd_generator/des_pos"/>
        <param name="Px" type="double" value="5.0"/>
        <param name="Py" type="double" value="5.0"/>
        <param name="Pz" type="double" value="5.0"/>
        <param name="Dx" type="double" value="1.0"/>
        <param name="Dy" type="double" value="1.0"/>
        <param name="Dz" type="double" value="1.0"/>
        <param name="Mass" type="double" value="1.2"/>
        <param name="ThrustGain" type="double" value="36.0"/>
    </node>

    <node pkg="mocap_optitrack" type="mocap_node" name="mocap_node"
        respawn="false" launch-prefix="" required="true">
        <rosparam file="$(find mocap_optitrack)/config/mocap.yaml" command="load" />
    </node>

    <node pkg="pos_vel_mocap" type="pos_vel_mocap" name="monocular_ukf" output="screen">
        <remap from="~pose" to="/Robot_1/pose"/>
    </node>

</launch>