aerostack2 / project_as2_multirotor_simulator

project_template

Launch guide

Parameters:

• -n namespace - namespace for the drone. Default, not specified and uses config/world.yaml configuration. If specified, it uses config/platform_config_file.yaml configuration.
• -m - multi agent mode. Default is disabled. If specified, it uses config/world_swarm.yaml configuration.
• -d - launch rviz visualization. If not specified, it does not launch rviz visualization. If specified, it launches rviz visualization with config/tf_visualization.rviz configuration.
• -e estimator type - estimator type. Default is ground_truth. Available options: ground_truth, raw_odometry, raw_odometry_gps. It uses configuration from config/state_estimator*.yaml.
• -r - record rosbag. Default is disabled. If specified, it records rosbag in rosbag directory.
• -t - launch keyboard teleoperation. Default is disabled. If specified, it launches keyboard teleoperation.

Examples:

• Launch single drone with config/world.yaml configuration

./launch_as2.bash

• Launch single drone with custon namespace and config/platform_config_file.yaml configuration

./launch_as2.bash -n <namespace>

• Launch multi agent mode with config/world_swarm.yaml configuration

./launch_as2.bash -m

• Launch rviz visualization with config/tf_visualization.rviz configuration

./launch_as2.bash -d

• Launch estimator with raw_odometry type

./launch_as2.bash -e raw_odometry

• Record rosbag

./launch_as2.bash -r

• Launch keyboard teleoperation

./launch_as2.bash -t