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starmac-ros-pkg / starmac_flyer / flyer_dual_ekf / launch / sim_dual_ekf_nodelet.launch

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<launch>

  <include file="$(find simulated_quadrotor)/launch/sim.launch">
    <param name="start_estimator" value="false" />
  </include>

  <group ns="simflyer1">
    <param name="tf_prefix" value="simflyer1" />
    <!-- dual EKF nodelet -->
    <node pkg="nodelet" type="nodelet" name="dual_ekf"
      args="load flyer_dual_ekf/DualEKFNodelet manager">
      <param name="dual_ekf_dat_file" value="$(find flyer_dual_ekf)/data/dual_ekf.dat" />
      <param name="update_FHz" value="true" />
      <remap from="~transform" to="state" />
      <remap from="~control" to="controller_mux/output" />
    </node>

    <!-- PARAMETER OVERRIDES -->
    <param name="control_mode_hover/direct_thrust_control" value="true" />

  </group>
</launch>