Added the parameters of the path_follower to the param file, and updated

the launch file to pass parameter file to path_follower.
rosflight · May 17, 2024 · 06d9c84 · 06d9c84
1 parent f8b0174
commit 06d9c84
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diff --git a/rosplane/launch/rosplane.launch.py b/rosplane/launch/rosplane.launch.py
@@ -38,6 +38,7 @@ def generate_launch_description():
             package='rosplane',
             executable='rosplane_path_follower',
             name='path_follower',
+            parameters = [autopilot_params],
         ),
         Node(
             package='rosplane',

diff --git a/rosplane/params/anaconda_autopilot_params.yaml b/rosplane/params/anaconda_autopilot_params.yaml
@@ -46,3 +46,9 @@ path_manager:
   ros__parameters:
     R_min: 100.0
     orbit_last: False
+
+path_follower:
+  ros__parameters:
+    chi_infty: 0.5
+    k_orbit: 4.0
+    k_path: 0.05