hover_bendable.launch

<?xml version="1.0"?>
<launch>
  <arg name="joy_dev" default="/dev/input/js0" />

  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflieTypes.yaml" />
  <rosparam command="load" file="$(find crazyswarm)/launch/bendable_cfs.yaml" />
  <!-- <node name = "niceHover" pkg="crazyswarm" type = "niceHover.py" output = "screen"/> -->

  <node pkg="crazyswarm" type="crazyswarm_server" name="crazyswarm_server" output="screen" >
    <rosparam>
      <!-- # Logging configuration (Use enable_logging to actually enable logging)
      genericLogTopics: ["log1"]
      genericLogTopicFrequencies: [10]
      genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"] -->
      # firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
      # allCrazyflies.yaml to set per drone)
      firmwareParams:
        commander:
          enHighLevel: 1
        stabilizer:
          estimator: 2 # 1: complementary, 2: kalman
          controller: 2 # 1: PID, 2: mellinger
        locSrv:
          extPosStdDev: 1e-3
          extQuatStdDev: 0.5e-1
        kalman:
          resetEstimation: 1
      # tracking
      motion_capture_type: "optitrack"
      object_tracking_type: "motionCapture"
      motion_capture_host_name: "192.168.0.4"
      send_position_only: False # set to False to send position+orientation; set to True to send position only
      # motion_capture_interface_ip: "192.168.0.4" # optional for optitrack with multiple interfaces
      save_point_clouds: "/dev/null" # set to a valid path to log mocap point cloud binary file.
      print_latency: False
      write_csvs: False
      force_no_cache: False
      enable_parameters: True
      enable_logging: False
      enable_logging_pose: True
    </rosparam>
  </node>

  <node name="joy" pkg="joy" type="joy_node" output="screen">
    <param name="dev" value="$(arg joy_dev)" />
  </node>

  <node pkg="crazyswarm" type="crazyswarm_teleop" name="crazyswarm_teleop" output="screen">
    <param name="csv_file" value="$(find crazyswarm)/launch/figure8_smooth.csv" />
    <param name="timescale" value="0.8" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyswarm)/launch/test.rviz"/>


  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_x" args="/cf2/log1/values[0]"/> -->
  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_roll" args="/cf1/log1/values[2] /cf1/log1/values[3]"/> -->

</launch>