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51 lines
2.7 KiB
51 lines
2.7 KiB
<?xml version="1.0"?> |
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<launch> |
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<!-- Posix SITL MAVROS integration tests --> |
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<!-- Test a mission --> |
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<arg name="est" default="ekf2"/> |
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<arg name="gui" default="false"/> |
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<arg name="interactive" default="false"/> |
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<arg name="mission" default="MC_safe_landing"/> |
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<arg name="sdf" default="$(find avoidance)/sim/models/iris_downwards_camera/iris_downwards_camera.sdf"/> |
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<arg name="vehicle" default="iris_obs_avoid"/> |
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<arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/> |
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<!-- PX4 SITL and Gazebo --> |
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<include file="$(find px4)/launch/posix_sitl.launch"> |
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<arg name="est" value="$(arg est)"/> |
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<arg name="gui" value="$(arg gui)"/> |
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<arg name="interactive" value="$(arg interactive)"/> |
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<arg name="respawn_gazebo" value="true"/> |
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<arg name="sdf" value="$(arg sdf)"/> |
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<arg name="vehicle" value="$(arg vehicle)"/> |
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<arg name="verbose" value="true"/> |
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<arg name="world" value="$(arg world)"/> |
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</include> |
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<!-- MAVROS --> |
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<include file="$(find mavros)/launch/node.launch"> |
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/> |
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<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/> |
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<arg name="gcs_url" value=""/> |
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<arg name="fcu_url" value="udp://:14540@localhost:14557"/> |
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<arg name="tgt_system" value="1"/> |
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<arg name="tgt_component" value="1"/> |
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<arg name="respawn_mavros" value="true"/> |
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</include> |
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<!-- Transformation Publishers --> |
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<node pkg="tf" type="static_transform_publisher" name="tf_depth_camera" |
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args="0 0 0 1.57 3.14 0 fcu camera_link 10"/> |
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<!-- Suppress console outputs --> |
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/> |
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<!-- Launch Local Planner --> |
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<arg name="pointcloud_topics" default="/camera/depth/points"/> |
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<node name="safe_landing_planner_node" pkg="safe_landing_planner" type="safe_landing_planner_node" output="screen"> |
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<param name="pointcloud_topics" value="$(arg pointcloud_topics)" /> |
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</node> |
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<node name="waypoint_generator_node" pkg="safe_landing_planner" type="waypoint_generator_node" output="screen" > |
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</node> |
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<node name="dynparam_slpn" pkg="dynamic_reconfigure" type="dynparam" args="load safe_landing_planner_node $(find safe_landing_planner)/cfg/slpn.yaml" /> |
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<node name="dynparam_wpgn" pkg="dynamic_reconfigure" type="dynparam" args="load waypoint_generator_node $(find safe_landing_planner)/cfg/wpgn.yaml" /> |
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<!-- ROStest --> |
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<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/> |
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</launch>
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