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ROS launch: cleanup 

* remove non-functional gazebo headless arg
* remove unused namespace args
* simplify mavros launch, use mavros's px4.launch instead
* fix single_vehicle_spawn spelling
* formatting with xmllint: remove empty lines, set intent to 4 spaces, add xml tag for editors, add comments to break up spections
* remove old and deprecated launch files
sbg
Anthony Lamping 7 years ago committed by Lorenz Meier
parent
a637063965
commit
b1f08a9640
27 changed files with 104 additions and 595 deletions
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  1. 22
      launch/ardrone.launch
  2. 8
      launch/example.launch
  3. 21
      launch/gazebo_ardrone_empty_world.launch
  4. 14
      launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
  5. 14
      launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
  6. 21
      launch/gazebo_ardrone_house_world.launch
  7. 21
      launch/gazebo_iris_empty_world.launch
  8. 21
      launch/gazebo_iris_house_world.launch
  9. 23
      launch/gazebo_iris_mavros_posix_sitl.launch
  10. 21
      launch/gazebo_iris_outdoor_world.launch
  11. 59
      launch/hippocampus.launch
  12. 23
      launch/iris.launch
  13. 25
      launch/mavros.launch
  14. 35
      launch/mavros_posix_sitl.launch
  15. 21
      launch/mavros_sitl.launch
  16. 55
      launch/multi_uav.launch
  17. 95
      launch/multi_uav_mavros_sitl.launch
  18. 20
      launch/multicopter.launch
  19. 14
      launch/multicopter_w.launch
  20. 14
      launch/multicopter_x.launch
  21. 36
      launch/posix_sitl.launch
  22. 29
      launch/single_vehicle_spawn.launch
  23. 15
      test/mavros_posix_test_mission.test
  24. 17
      test/mavros_posix_tests_iris_opt_flow.test
  25. 25
      test/mavros_posix_tests_missions.test
  26. 15
      test/mavros_posix_tests_offboard_attctl.test
  27. 15
      test/mavros_posix_tests_offboard_posctl.test

22
launch/ardrone.launch
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@ -1,22 +0,0 @@ @@ -1,22 +0,0 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
<include file="$(find px4)/launch/multicopter_x.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
<param name="MPP_XY_P" type="double" value="1.0" />
<param name="MPP_XY_FF" type="double" value="0.1" />
<param name="MPP_XY_VEL_P" type="double" value="0.01" />
<param name="MPP_XY_VEL_I" type="double" value="0.0" />
<param name="MPP_XY_VEL_D" type="double" value="0.01" />
<param name="MPP_XY_VEL_MAX" type="double" value="2.0" />
<param name="MPP_Z_VEL_P" type="double" value="0.3" />
<param name="MPP_Z_P" type="double" value="2" />
<param name="vehicle_model" type="string" value="ardrone" />
</group>
</launch>

8
launch/example.launch
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<launch>
<group ns="px4_example">
<node pkg="px4" name="subscriber" type="subscriber"/>
<node pkg="px4" name="publisher" type="publisher"/>
</group>
</launch>

21
launch/gazebo_ardrone_empty_world.launch
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@ -1,21 +0,0 @@ @@ -1,21 +0,0 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="ardrone"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find rotors_gazebo)/launch/ardrone_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/ardrone.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

14
launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
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@ -1,14 +0,0 @@ @@ -1,14 +0,0 @@
<launch>
<arg name="ns" default="ardrone"/>
<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
<include file="$(find px4)/launch/mavros_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
<group ns="$(arg ns)">
<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
</group>
</launch>

14
launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
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@ -1,14 +0,0 @@ @@ -1,14 +0,0 @@
<launch>
<arg name="ns" default="ardrone"/>
<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
<include file="$(find px4)/launch/mavros_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
<group ns="$(arg ns)">
<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
</group>
</launch>

21
launch/gazebo_ardrone_house_world.launch
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@ -1,21 +0,0 @@ @@ -1,21 +0,0 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="ardrone"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find rotors_gazebo)/launch/ardrone_house_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/ardrone.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

21
launch/gazebo_iris_empty_world.launch
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@ -1,21 +0,0 @@ @@ -1,21 +0,0 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

21
launch/gazebo_iris_house_world.launch
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@ -1,21 +0,0 @@ @@ -1,21 +0,0 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

23
launch/gazebo_iris_mavros_posix_sitl.launch
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@ -1,23 +0,0 @@ @@ -1,23 +0,0 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<arg name="mavlink_bridge_url" default="udp://localhost:14553@localhost:14560" />
<include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find mavros)/launch/mavlink_bridge.launch">
<arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

21
launch/gazebo_iris_outdoor_world.launch
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@ -1,21 +0,0 @@ @@ -1,21 +0,0 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

59
launch/hippocampus.launch
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@ -1,59 +0,0 @@ @@ -1,59 +0,0 @@
<launch>
<!--
MAVROS posix SITL environment launch script modified for hippocam,pus from mavros_posix_sitl.
The HippoCampus is an autonomous underwater vehicle (AUV) designed by the Technical University Hamburg-Harburg.
https://www.tuhh.de/mum/forschung/forschungsgebiete-und-projekte/flow-field-estimation-with-a-swarm-of-auvs.html
-->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="hippocampus"/>
<arg name="world" default="$(find px4)/Tools/sitl_gazebo/worlds/hippocampus.world"/>
<arg name="sdf" default="$(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="R" value="$(arg R)"/>
<arg name="P" value="$(arg P)"/>
<arg name="Y" value="$(arg Y)"/>
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="rcS" value="$(arg rcS)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
<include file="$(find px4)/launch/mavros.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
<arg name="fcu_url" value="$(arg fcu_url)"/>
</include>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

23
launch/iris.launch
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@ -1,23 +0,0 @@ @@ -1,23 +0,0 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
<include file="$(find px4)/launch/multicopter_w.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
<param name="mixer" type="string" value="i" />
<param name="MPP_XY_P" type="double" value="1.0" />
<param name="MPP_XY_FF" type="double" value="0.0" />
<param name="MPP_XY_VEL_P" type="double" value="0.01" />
<param name="MPP_XY_VEL_I" type="double" value="0.0" />
<param name="MPP_XY_VEL_D" type="double" value="0.01" />
<param name="MPP_XY_VEL_MAX" type="double" value="2.0" />
<param name="MPP_Z_VEL_P" type="double" value="0.3" />
<param name="MPP_Z_P" type="double" value="2" />
<param name="vehicle_model" type="string" value="iris" />
</group>
</launch>

25
launch/mavros.launch
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<launch>
<!-- MAVROS launch script PX4 (default) -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="" />
<arg name="gcs_url" default="udp://:14550@:14555" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
<group ns="$(arg ns)">
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
<arg name="config_yaml" value="$(arg config_yaml)" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
</launch>
<!-- vim: set ft=xml et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

35
launch/mavros_posix_sitl.launch
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@ -1,34 +1,29 @@ @@ -1,34 +1,29 @@
<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<arg name="headless" default="false"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
<!-- MAVROS connection -->
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
@ -40,22 +35,16 @@ @@ -40,22 +35,16 @@
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="rcS" value="$(arg rcS)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<include file="$(find px4)/launch/mavros.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
<arg name="config_yaml" value="$(arg config_yaml)" />
</include>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

21
launch/mavros_sitl.launch
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@ -1,21 +0,0 @@ @@ -1,21 +0,0 @@
<launch>
<!-- MAVROS launch script for deprecated multiplatform SITL -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="50" />
<group ns="$(arg ns)">
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
</launch>

55
launch/multi_uav.launch
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@ -1,55 +0,0 @@ @@ -1,55 +0,0 @@
<?xml version="1.0"?>
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="debug" default="false"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<group ns="iris">
<include file="$(find rotors_gazebo)/launch/spawn_iris.launch">
<arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
<arg name="x" value="1"/>
<arg name="y" value="0"/>
</include>
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)" />
</include>
</group>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="iris"/>
</include>
<group ns="ardrone">
<include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
<arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
<arg name="x" value="-1"/>
<arg name="y" value="0"/>
</include>
<arg name="fcu_url" default="udp://localhost:14570@localhost:14575" />
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)" />
</include>
</group>
<include file="$(find px4)/launch/ardrone.launch">
<arg name="ns" value="ardrone"/>
<arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/>
</include>
</launch>

95
launch/multi_uav_mavros_sitl.launch
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@ -1,42 +1,31 @@ @@ -1,42 +1,31 @@
<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="headless" default="false"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
<!-- Load world -->
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)" />
<arg name="debug" value="$(arg debug)" />
<arg name="verbose" value="$(arg verbose)" />
<arg name="paused" value="$(arg paused)" />
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
<!-- UAV1 iris_1-->
<!-- UAV1 -->
<group ns="uav1">
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="1"/>
<arg name="tgt_component" value="1"/>
<arg name="rcS1" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_1"/>
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<include file="$(find px4)/launch/single_vehcile_spawn.launch">
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
@ -44,32 +33,25 @@ @@ -44,32 +33,25 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="rcS" value="$(arg rcS1)"/>
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" value="14560"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
<arg name="config_yaml" value="$(arg config_yaml)" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV2 iris_2 -->
<!-- UAV2 -->
<group ns="uav2">
<arg name="fcu_url" default="udp://:14541@localhost:14559"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="2"/>
<arg name="tgt_component" value="1"/>
<arg name="rcS2" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_2"/>
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<include file="$(find px4)/launch/single_vehcile_spawn.launch">
<arg name="fcu_url" default="udp://:14541@localhost:14559"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
@ -77,21 +59,16 @@ @@ -77,21 +59,16 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="rcS" value="$(arg rcS2)"/>
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" value="14562"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
<arg name="config_yaml" value="$(arg config_yaml)" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

20
launch/multicopter.launch
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@ -1,20 +0,0 @@ @@ -1,20 +0,0 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url"/>
<group ns="$(arg ns)">
<node pkg="joy" name="joy_node" type="joy_node"/>
<node pkg="px4" name="manual_input" type="manual_input"/>
<node pkg="px4" name="commander" type="commander"/>
<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
<node pkg="px4" name="position_estimator" type="position_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<node pkg="px4" name="mc_pos_control" type="mc_pos_control"/>
<node pkg="px4" name="mavlink" type="mavlink">
<param name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" type="str"/>
</node>
<!-- <node pkg="rosbag" type="record" name="record" output="screen" args="-a -O px4_multicopter"/> -->
</group>
</launch>

14
launch/multicopter_w.launch
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@ -1,14 +0,0 @@ @@ -1,14 +0,0 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url"/>
<include file="$(find px4)/launch/multicopter.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
<param name="mixer" type="string" value="w" />
</group>
</launch>

14
launch/multicopter_x.launch
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@ -1,14 +0,0 @@ @@ -1,14 +0,0 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url"/>
<include file="$(find px4)/launch/multicopter.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
<param name="mixer" type="string" value="x" />
</group>
</launch>

36
launch/posix_sitl.launch
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@ -1,45 +1,37 @@ @@ -1,45 +1,37 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL environment launch script -->
<!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<arg name="headless" default="false"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
</node>
<!-- PX4 SITL -->
<node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)" />
<arg name="debug" value="$(arg debug)" />
<arg name="verbose" value="$(arg verbose)" />
<arg name="paused" value="$(arg paused)" />
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
<!-- gazebo model -->
<node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

29
launch/single_vehcile_spawn.launch → launch/single_vehicle_spawn.launch
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@ -1,33 +1,26 @@ @@ -1,33 +1,26 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL environment launch script -->
<!-- launchs PX4 SITL and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehcile model and config -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" default="14560" />
<arg name="mavlink_udp_port" default="14560"/>
<!-- generate urdf vehicle model -->
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>
<param command="$(arg cmd)" name="rotors_description" />
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
<param command="$(arg cmd)" name="rotors_description"/>
<!-- PX4 SITL -->
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)">
</node>
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model"
args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

15
test/mavros_posix_test_mission.test
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@ -1,24 +1,19 @@ @@ -1,24 +1,19 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<!-- Test a mission -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="mission"/>
<arg name="vehicle"/>
<arg name="respawn_gazebo" default="true"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
<test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)" />
</group>
<!-- ROStest -->
<test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)"/>
</launch>

17
test/mavros_posix_tests_iris_opt_flow.test
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@ -1,23 +1,18 @@ @@ -1,23 +1,18 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<!-- Test offboard local posistion and attitude control with optical flow iris -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris_opt_flow"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
<test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
<test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
</group>
<!-- ROStest -->
<test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
<test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
</launch>

25
test/mavros_posix_tests_missions.test
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@ -1,27 +1,22 @@ @@ -1,27 +1,22 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<!-- Test all missions with standard VTOL -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
<test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
</group>
<!-- ROStest -->
<test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
</launch>

15
test/mavros_posix_tests_offboard_attctl.test
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@ -1,22 +1,17 @@ @@ -1,22 +1,17 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<!-- Test offboard attitude control with iris -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
</group>
<!-- ROStest -->
<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
</launch>

15
test/mavros_posix_tests_offboard_posctl.test
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@ -1,22 +1,17 @@ @@ -1,22 +1,17 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<!-- Test offboard local posistion control with iris -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
</group>
<!-- ROStest -->
<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
</launch>

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