crazyflie_add_single.launch

<?xml version="1.0"?>

<launch>
  <arg name="uri" default="radio://0/80/250K" />
  <arg name="tf_prefix" default="cf1" />

  <!-- Parameters -->
  <arg name="roll_trim" default="0" />
  <arg name="pitch_trim" default="0" />
  <arg name="enable_logging" default="True" />
  <arg name="use_ros_time" default="True" />
  <arg name="enable_logging_imu" default="False" />
  <arg name="enable_logging_temperature" default="False" />
  <arg name="enable_logging_magnetic_field" default="False" />
  <arg name="enable_logging_pressure" default="False" />
  <arg name="enable_logging_battery" default="False" />
  <arg name="enable_logging_packets" default="True" />

  <!-- Launch the server node ! Be sure it's only launch once -->
  <include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
  </include>

  <group ns="$(arg tf_prefix)">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri)" />
      <param name="tf_prefix" value="$(arg tf_prefix)" />
      <param name="roll_trim" value="$(arg roll_trim)" />
      <param name="pitch_trim" value="$(arg pitch_trim)" />
      <param name="enable_logging" value="$(arg enable_logging)" />
      <param name="use_ros_time" value="$(arg use_ros_time)" />
      <param name="enable_logging_imu" value="$(arg enable_logging_imu)" />
      <param name="enable_logging_temperature" value="$(arg enable_logging_temperature)" />
      <param name="enable_logging_magnetic_field" value="$(arg enable_logging_magnetic_field)" />
      <param name="enable_logging_pressure" value="$(arg enable_logging_pressure)" />
      <param name="enable_logging_battery" value="$(arg enable_logging_battery)" />
      <param name="enable_logging_packets" value="$(arg enable_logging_packets)"/>

      <!-- Custom log usually used in simulation -->
      <rosparam>
        genericLogTopics: ["local_position","target_position"]
        genericLogTopicFrequencies: [10,10]
        genericLogTopic_pos_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z"]
        genericLogTopic_targetPos_Variables: ["posCtl.targetX", "posCtl.targetY", "posCtl.targetZ"]
      </rosparam>
    </node>
  </group>

</launch>