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43 lines
1.6 KiB
43 lines
1.6 KiB
<launch> |
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<!-- 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)/$(arg vehicle)"/> |
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<arg name="headless" default="false"/> |
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<arg name="gui" default="true"/> |
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<arg name="ns" default="/"/> |
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<arg name="debug" default="false"/> |
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<arg name="verbose" default="false"/> |
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<arg name="paused" default="false"/> |
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<node name="sitl" pkg="px4" type="px4" output="screen" |
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args="$(find px4) $(arg rcS)"> |
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</node> |
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<include file="$(find gazebo_ros)/launch/empty_world.launch"> |
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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="world_name" value="$(arg world)" /> |
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<arg name="debug" value="$(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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<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" |
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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)"/> |
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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 : --> |