simulator.xml

<launch>
  <arg name="init_x"/>
  <arg name="init_y"/>
  <arg name="init_z"/> 
  <arg name="map_size_x_"/>
  <arg name="map_size_y_"/>
  <arg name="map_size_z_"/>
  <arg name="box_min_x"/>
  <arg name="box_min_y"/>
  <arg name="box_min_z"/>
  <arg name="box_max_x"/>
  <arg name="box_max_y"/>
  <arg name="box_max_z"/>
  <arg name="c_num"/>
  <arg name="p_num"/>
  <arg name="odometry_topic"/>
  <arg name="obj_num" value="1" />

  <!-- map generation 1-->
  <!-- Change office.pcd to specify the exploration environment -->
  <!-- We provide office2.pcd, office3.pcd and pillar.pcd in this repo -->
  <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd"/>    

  <!-- map generation 2-->
  <!-- <node pkg ="map_generator" name ="random_forest" type ="random_forest" output = "screen">    
    <remap from="~odometry"   to="$(arg odometry_topic)"/>    
    <param name="init_state_x"   value="$(arg init_x)"/>
    <param name="init_state_y"   value="$(arg init_y)"/>
    <param name="map/x_size"     value="$(arg map_size_x_)" />
    <param name="map/y_size"     value="$(arg map_size_y_)" />
    <param name="map/z_size"     value="$(arg map_size_z_)" />
    <param name="map/resolution" value="0.1"/>        

    <param name="ObstacleShape/seed" value="1"/>
    <param name="map/obs_num"    value="0"/>
    <param name="map/circle_num" value="0"/>        
    <param name="ObstacleShape/lower_rad" value="0.9"/>
    <param name="ObstacleShape/upper_rad" value="1.6"/>
    <param name="ObstacleShape/lower_hei" value="3.5"/>
    <param name="ObstacleShape/upper_hei" value="4.0"/>        

    <param name="ObstacleShape/radius_l" value="0.7"/>        
    <param name="ObstacleShape/radius_h" value="0.8"/>        
    <param name="ObstacleShape/z_l" value="0.7"/>        
    <param name="ObstacleShape/z_h" value="0.8"/>        
    <param name="ObstacleShape/theta" value="0.5"/>        

    <param name="sensing/radius" value="5.0"/>        
    <param name="sensing/rate"   value="10.0"/>        
  </node> -->

  <!-- <node pkg ="traj_utils" name ="process_msg" type ="process_msg" output = "screen">    
  </node> -->

  <node pkg="so3_quadrotor_simulator" type="quadrotor_simulator_so3" name="quadrotor_simulator_so3" output="screen">
        <param name="rate/odom" value="200.0"/>
        <param name="simulator/init_state_x" value="$(arg init_x)"/>
        <param name="simulator/init_state_y" value="$(arg init_y)"/>
        <param name="simulator/init_state_z" value="$(arg init_z)"/>

        <remap from="~odom" to="/visual_slam/odom"/>
        <remap from="~cmd" to="so3_cmd"/>
        <remap from="~force_disturbance" to="force_disturbance"/>    
        <remap from="~moment_disturbance" to="moment_disturbance"/>        
  </node>
 
  <node pkg="nodelet" type="nodelet" args="standalone so3_control/SO3ControlNodelet" name="so3_control" required="true" output="screen">
        <remap from="~odom" to="/state_ukf/odom"/>
        <remap from="~position_cmd" to="/exploration_node/planning/pos_cmd"/>
        <remap from="~motors" to="motors"/>
        <remap from="~corrections" to="corrections"/>
        <remap from="~so3_cmd" to="so3_cmd"/>
        <rosparam file="$(find so3_control)/config/gains_hummingbird.yaml"/>
        <rosparam file="$(find so3_control)/config/corrections_hummingbird.yaml"/>
        <param name="mass" value="0.98"/>
        <param name="use_angle_corrections " value="false"/>
        <param name="use_external_yaw "      value="false"/>
        <param name="gains/rot/z" value="1.0"/>    
        <param name="gains/ang/z" value="0.1"/>        
  </node>  
 
  <node pkg="so3_disturbance_generator" name="so3_disturbance_generator" type="so3_disturbance_generator" output="screen">
        <remap from="~odom" to="/visual_slam/odom"/>             
        <remap from="~noisy_odom" to="/state_ukf/odom"/>          
        <remap from="~correction" to="/visual_slam/correction"/>   
        <remap from="~force_disturbance" to="force_disturbance"/>        
        <remap from="~moment_disturbance" to="moment_disturbance"/>            
  </node> 
 
  <node pkg="odom_visualization" name="odom_visualization" type="odom_visualization" output="screen">
        <remap from="~odom" to="/visual_slam/odom"/>
        <param name="color/a" value="1.0"/>    
        <param name="color/r" value="0.0"/>        
        <param name="color/g" value="0.0"/>        
        <param name="color/b" value="1.0"/>       
        <param name="covariance_scale" value="100.0"/>       
        <param name="robot_scale" value="1.0"/>
  </node>

  <node pkg="local_sensing_node" type="pcl_render_node" name="pcl_render_node" output="screen">
        <rosparam command="load" file="$(find local_sensing_node)/params/camera.yaml" />
        <param name="sensing_horizon"  value="5.0" />
        <param name="sensing_rate"     value="15.0"/>
        <param name="estimation_rate"  value="15.0"/>

        <param name="map/x_size"     value="$(arg map_size_x_)"/>
        <param name="map/y_size"     value="$(arg map_size_y_)"/>
        <param name="map/z_size"     value="$(arg map_size_z_)"/>

        <remap from="~global_map" to="/map_generator/global_cloud"/>
        <remap from="~odometry"   to="$(arg odometry_topic)"/>
  </node>

</launch>