diff options
| -rw-r--r-- | launch/ardrone.launch | 1 | ||||
| -rw-r--r-- | launch/gazebo_ardrone_empty_world.launch | 1 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp | 4 |
3 files changed, 5 insertions, 1 deletions
diff --git a/launch/ardrone.launch b/launch/ardrone.launch index d53333b11..3173e7cf1 100644 --- a/launch/ardrone.launch +++ b/launch/ardrone.launch @@ -9,6 +9,7 @@ <param name="MPC_XY_VEL_I" type="double" value="0.0" /> <param name="MPC_XY_VEL_D" type="double" value="0.01" /> <param name="MPC_XY_VEL_MAX" type="double" value="2.0" /> + <param name="vehicle_model" type="string" value="ardrone" /> </group> </launch> diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch index 395e70b00..063d51096 100644 --- a/launch/gazebo_ardrone_empty_world.launch +++ b/launch/gazebo_ardrone_empty_world.launch @@ -1,6 +1,7 @@ <launch> <include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" /> +<!-- <include file="$(find mav_gazebo)/launch/ardrone_empty_world.launch" /> --> <include file="$(find px4)/launch/ardrone.launch" /> </launch> diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp index 1d36e3d99..a3e4bca30 100644 --- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp +++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp @@ -48,9 +48,11 @@ AttitudeEstimator::AttitudeEstimator() : _n(), // _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)), - _sub_imu(_n.subscribe("/px4_multicopter/imu", 1, &AttitudeEstimator::ImuCallback, this)), _vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1)) { + std::string vehicle_model; + _n.param("vehicle_model", vehicle_model, std::string("iris")); + _sub_imu = _n.subscribe("/" + vehicle_model + "/imu", 1, &AttitudeEstimator::ImuCallback, this); } void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg) |