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ros: make mixer name a param

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This commit is contained in:
Thomas Gubler
2015-01-14 11:27:32 +01:00
parent f6c0d2310d
commit 6b0d0aa2a5
8 changed files with 42 additions and 5 deletions
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2
launch/gazebo_ardrone_empty_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_x.launch" />
</launch>

2
launch/gazebo_ardrone_house_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/ardrone_house_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_x.launch" />
</launch>

2
launch/gazebo_iris_empty_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_w.launch" />
</launch>

2
launch/gazebo_iris_outdoor_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_outdoor_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_x.launch" />
</launch>

1
launch/multicopter.launch
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@@ -19,6 +19,7 @@
<param name="MC_YAWRATE_P" type="double" value="0.5" />
<param name="MC_MAN_R_MAX" type="double" value="10.0" />
<param name="MC_MAN_P_MAX" type="double" value="10.0" />
<param name="mixer" type="string" value="x" />
</group>
</launch>

9
launch/multicopter_w.launch Normal file
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@@ -0,0 +1,9 @@
<launch>
<include file="$(find px4)/launch/multicopter.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="w" />
</group>
</launch>

9
launch/multicopter_x.launch Normal file
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@@ -0,0 +1,9 @@
<launch>
<include file="$(find px4)/launch/multicopter.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="x" />
</group>
</launch>