task_1_submission.launch

<launch>
  <include file="$(find rotors_gazebo)/launch/swift_with_swift_msg.launch">
  </include>
  
  <arg name="name" default="whycon"/>
  <arg name="targets" default="1"/>
  <!-- DO NOT CHANGE THE FOLLOWING TWO VALUES  -->
  <arg name="outer_diameter" default=".55"/>
  <arg name="inner_diameter" default=".20"/>
  <arg name="node_start_delay" default="10.0" />  
  <arg name="duration" default="60"/>
  <arg name="rec_name" default="position_hold.bag"/>

  <node name="whycon" type="whycon" pkg="whycon" output="screen">
    <param name="targets" value="$(arg targets)"/>
    <param name="name" value="$(arg name)"/>
    <param name="outer_diameter" value="$(arg outer_diameter)"/>
    <param name="inner_diameter" value="$(arg inner_diameter)"/> 
    <remap from="/camera/camera_info" to="/gazebo/overhead_cam/camera_info"/> 
    <remap from="/camera/image_rect_color" to="/gazebo/overhead_cam/image_rect_color"/>
  </node>


  <node ns = "whycon_display" name="image_view" type="image_view" pkg="image_view" output="screen">
    <remap from="image" to="/whycon/image_out"/>
  </node>

  <node name="rosbag_record_position_hold" pkg="rosbag" type="record"
       args="record -O $(find luminosity_drone)/scripts/$(arg rec_name) --duration=$(arg duration) --chunksize=10 /whycon/poses" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "/>

  <node pkg="luminosity_drone" type="position_hold.py" name="position_hold"/>
</launch>