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59 lines
2.3 KiB
59 lines
2.3 KiB
<launch> |
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<!-- MAVROS posix SITL environment launch script --> |
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<arg name="x" default="0"/> |
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<arg name="y" default="0"/> |
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<arg name="z" default="0"/> |
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<arg name="R" default="0"/> |
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<arg name="P" default="0"/> |
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<arg name="Y" default="0"/> |
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<arg name="est" default="lpe"/> |
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<arg name="vehicle" default="iris"/> |
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> |
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> |
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<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/> |
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<arg name="headless" default="false"/> |
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<arg name="gui" default="true"/> |
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<arg name="ns" default="/"/> |
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/> |
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<arg name="debug" default="false"/> |
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<arg name="verbose" default="false"/> |
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<arg name="paused" default="false"/> |
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<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" /> |
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<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" /> |
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<include file="$(find px4)/launch/posix_sitl.launch"> |
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<arg name="x" value="$(arg x)"/> |
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<arg name="y" value="$(arg y)"/> |
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<arg name="z" value="$(arg z)"/> |
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<arg name="R" value="$(arg R)"/> |
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<arg name="P" value="$(arg P)"/> |
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<arg name="Y" value="$(arg Y)"/> |
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<arg name="world" value="$(arg world)"/> |
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<arg name="vehicle" value="$(arg vehicle)"/> |
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<arg name="sdf" value="$(arg sdf)"/> |
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<arg name="rcS" value="$(arg rcS)"/> |
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<arg name="headless" value="$(arg headless)"/> |
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<arg name="gui" value="$(arg gui)"/> |
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<arg name="ns" value="$(arg ns)"/> |
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<arg name="debug" value="$(arg debug)"/> |
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<arg name="verbose" value="$(arg verbose)"/> |
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<arg name="paused" value="$(arg paused)"/> |
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</include> |
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<include file="$(find px4)/launch/mavros.launch"> |
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<arg name="ns" value="$(arg ns)"/> |
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<arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL --> |
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<arg name="fcu_url" value="$(arg fcu_url)"/> |
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<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" /> |
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<arg name="config_yaml" value="$(arg config_yaml)" /> |
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</include> |
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</launch> |
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
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