You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
33 lines
1.4 KiB
33 lines
1.4 KiB
<launch> |
|
|
|
<!-- Posix SITL environment launch script --> |
|
<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="lpe"/> |
|
<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="cmd" default="$(find xacro)/xacro.py $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) > $(arg vehicle)_$(arg ID).urdf ; 'gz sdf -p $(arg vehicle)_$(arg ID).urdf'" /> |
|
|
|
|
|
<param command="$(arg cmd)" name="$(arg vehicle)_$(arg ID)_sdf" /> |
|
|
|
<node name="sitl_$(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="-sdf -param $(arg vehicle)_$(arg ID)_sdf -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)" respawn="false"/> |
|
|
|
|
|
</launch> |
|
|
|
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
|
|