<commit_before><?xml version="1.0"?>
<launch>
  <arg name="uri" default="radio://0/90/2M" />
  <arg name="frame" default="/vicon/cf/cf" />

  <include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
  </include>

  <group ns="crazyflie">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri)" />
      <param name="tf_prefix" value="crazyflie" />
      <param name="enable_logging_imu" value="False" />
      <param name="enable_logging_temperature" value="False" />
      <param name="enable_logging_magnetic_field" value="False" />
      <param name="enable_logging_pressure" value="False" />
      <param name="enable_logging_battery" value="False" />
      <param name="enable_logging_packets" value="False" />
      <rosparam>
        genericLogTopics: ["log1"]
        genericLogTopicFrequencies: [100]
        genericLogTopic_log1_Variables: ["stateEstimate.yaw", "ctrltarget.yaw"]
      </rosparam>
    </node>

    <node name="pose" pkg="crazyflie_demo" type="publish_external_position_vicon.py" output="screen">
      <param name="topic" value="$(arg frame)" />
    </node>

    <node pkg="tf" type="static_transform_publisher" name="baselink_broadcaster" args="0 0 0 0 0 0 1 $(arg frame) /crazyflie/base_link 100" />
  </group>

  <!-- run vicon bridge -->
  <include file="$(find vicon_bridge)/launch/vicon.launch"/>

  <!-- run rviz -->
  <param name="robot_description" command="$(find xacro)/xacro.py $(find crazyflie_description)/urdf/crazyflie.urdf.xacro" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyflie_demo)/launch/crazyflie_pos.rviz" required="true" />

  <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot1" args="/crazyflie/log1/values[0] /crazyflie/log1/values[1]"/>

</launch>
<commit_msg>switch to logging variables that exist in the official firmware for external_position_vicon.launch<commit_after><?xml version="1.0"?>
<launch>
  <arg name="uri" default="radio://0/90/2M" />
  <arg name="frame" default="/vicon/cf/cf" />

  <include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
  </include>

  <group ns="crazyflie">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri)" />
      <param name="tf_prefix" value="crazyflie" />
      <param name="enable_logging_imu" value="False" />
      <param name="enable_logging_temperature" value="False" />
      <param name="enable_logging_magnetic_field" value="False" />
      <param name="enable_logging_pressure" value="False" />
      <param name="enable_logging_battery" value="False" />
      <param name="enable_logging_packets" value="False" />
      <rosparam>
        genericLogTopics: ["log1"]
        genericLogTopicFrequencies: [100]
        genericLogTopic_log1_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z"]
      </rosparam>
    </node>

    <node name="pose" pkg="crazyflie_demo" type="publish_external_position_vicon.py" output="screen">
      <param name="topic" value="$(arg frame)" />
    </node>

    <node pkg="tf" type="static_transform_publisher" name="baselink_broadcaster" args="0 0 0 0 0 0 1 $(arg frame) /crazyflie/base_link 100" />
  </group>

  <!-- run vicon bridge -->
  <include file="$(find vicon_bridge)/launch/vicon.launch"/>

  <!-- run rviz -->
  <param name="robot_description" command="$(find xacro)/xacro.py $(find crazyflie_description)/urdf/crazyflie.urdf.xacro" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyflie_demo)/launch/crazyflie_pos.rviz" required="true" />

  <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot1" args="/crazyflie/log1/values[0] /crazyflie/log1/values[1] /crazyflie/log1/values[2]"/>

</launch>

{'fraction_non_alphanumeric': 0.17434816960758492, 'fraction_numerical': 0.014221754016328681, 'mean_word_length': 4.51233671988389, 'pattern_counts': {'":': 0, '<': 65, '<?xml version=': 2, '>': 65, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '3396369', 'n_tokens_mistral': 1395, 'n_tokens_neox': 1313, 'n_words': 233}