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.
59 lines
2.3 KiB
59 lines
2.3 KiB
<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 : -->
|
|
|