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Fix run_in_flight.launch for waypoint flight.
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JeiKeiLim authored and JeiKeiLim committed Sep 28, 2022
1 parent 1e2646d commit 2a9bd3b
Showing 1 changed file with 8 additions and 3 deletions.
11 changes: 8 additions & 3 deletions src/planner/plan_manage/launch/run_in_flight.launch
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@
<arg name="map_size_x" value="150.0"/>
<arg name="map_size_y" value="150.0"/>
<arg name="map_size_z" value=" 10.0"/>
<arg name="waypoint" default="$(find rc_demo)/res/waypoints.yaml" doc="Waypoint definition yaml file." />
<arg name="target_waypoint" default="waypoint_0" doc="Target waypoint name to use defined in yaml file." />

<!-- topic of your odometry such as VIO or LIO -->
<arg name="odom_topic" value="/Odometry" />
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<remap from="/odom_world" to="$(arg odom_topic)"/>
<param name="traj_server/time_forward" value="1.0" type="double"/>
<param name="traj_server/use_velocity_control" value="false" type="bool"/>
<param name="traj_server/enable_rotate_head" value="true" type="bool"/>
<param name="traj_server/enable_rotate_head" value="false" type="bool"/>
</node>

<node pkg="waypoint_generator" name="waypoint_generator" type="waypoint_generator" output="screen">
Expand All @@ -88,8 +90,11 @@
<param name="waypoint_type" value="manual-lonely-waypoint"/>
</node>

<node pkg="rc_demo" name="flight_control_node" type="rc_flight.py" output="screen">
</node>
<include file="$(find rc_demo)/launch/rc_flight.launch">
<arg name="rc_control" value="false" />
<arg name="waypoint" value="$(arg waypoint)" />
<arg name="target_waypoint" value="$(arg target_waypoint)" />
</include>

<!-- use simulator -->
<!-- <include file="$(find ego_planner)/launch/simulator.xml">
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