Parameters:
- -n namespace - namespace for the drone. Default, not specified and uses
config/world.yaml
configuration. If specified, it usesconfig/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 fromconfig/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