Drone-Simulation-Gazebo/task_2b.launch at main · Mcpigeons04/Drone-Simulation-Gazebo · GitHub

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<launch>
  <include file="$(find rotors_gazebo)/launch/swift_with_swift_msg_arena.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"/>


  <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 ns = "drone_display" name="image_view" type="image_view" pkg="image_view" output="screen">
    <remap from="image" to="/swift/camera_rgb/image_raw"/>
  </node>

  <node name="spawn_organism" type="spawning" pkg="luminosity_drone"/>

</launch>