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55 lines
2.2 KiB
55 lines
2.2 KiB
<?xml version="1.0"?> |
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<launch> |
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<arg name="headless" default="false"/> |
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<arg name="gui" default="true"/> |
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<arg name="enable_logging" default="false"/> |
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<arg name="enable_ground_truth" default="true"/> |
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<arg name="debug" default="false"/> |
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<arg name="ns" default="iris"/> |
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<arg name="log_file" default="$(arg ns)"/> |
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<include file="$(find gazebo_ros)/launch/empty_world.launch"> |
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<arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/> |
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<arg name="debug" value="$(arg debug)" /> |
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<arg name="headless" value="$(arg headless)"/> |
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<arg name="gui" value="$(arg gui)"/> |
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</include> |
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<group ns="iris"> |
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<include file="$(find rotors_gazebo)/launch/spawn_iris.launch"> |
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<arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" /> |
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<arg name="enable_logging" value="$(arg enable_logging)" /> |
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> |
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<arg name="log_file" value="$(arg log_file)"/> |
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<arg name="x" value="1"/> |
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<arg name="y" value="0"/> |
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</include> |
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<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" /> |
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<include file="$(find mavros)/launch/px4.launch"> |
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<arg name="fcu_url" value="$(arg fcu_url)" /> |
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</include> |
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</group> |
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<include file="$(find px4)/launch/iris.launch"> |
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<arg name="ns" value="iris"/> |
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</include> |
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<group ns="ardrone"> |
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<include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch"> |
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<arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" /> |
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<arg name="enable_logging" value="$(arg enable_logging)" /> |
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> |
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<arg name="log_file" value="$(arg log_file)"/> |
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<arg name="x" value="-1"/> |
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<arg name="y" value="0"/> |
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</include> |
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<arg name="fcu_url" default="udp://localhost:14570@localhost:14575" /> |
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<include file="$(find mavros)/launch/px4.launch"> |
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<arg name="fcu_url" value="$(arg fcu_url)" /> |
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</include> |
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</group> |
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<include file="$(find px4)/launch/ardrone.launch"> |
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<arg name="ns" value="ardrone"/> |
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<arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/> |
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</include> |
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</launch>
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