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54 lines
2.2 KiB
54 lines
2.2 KiB
<?xml version="1.0"?> |
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<launch> |
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<!-- MAVROS posix SITL environment launch script --> |
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle --> |
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<!-- vehicle pose --> |
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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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<!-- vehicle model and world --> |
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<arg name="est" default="ekf2"/> |
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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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<!-- gazebo configs --> |
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<arg name="gui" default="true"/> |
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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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<arg name="respawn_gazebo" default="false"/> |
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<!-- MAVROS configs --> |
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/> |
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<arg name="respawn_mavros" default="false"/> |
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<!-- PX4 configs --> |
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<arg name="interactive" default="true"/> |
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<!-- PX4 SITL and Gazebo --> |
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<include file="$(find px4)/launch/posix_sitl.launch"> |
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<arg name="x" value="$(arg x)"/> |
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<arg name="y" value="$(arg y)"/> |
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<arg name="z" value="$(arg z)"/> |
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<arg name="R" value="$(arg R)"/> |
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<arg name="P" value="$(arg P)"/> |
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<arg name="Y" value="$(arg Y)"/> |
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<arg name="world" value="$(arg world)"/> |
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<arg name="vehicle" value="$(arg vehicle)"/> |
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<arg name="sdf" value="$(arg sdf)"/> |
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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="debug" value="$(arg debug)"/> |
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<arg name="verbose" value="$(arg verbose)"/> |
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<arg name="paused" value="$(arg paused)"/> |
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/> |
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</include> |
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<!-- MAVROS --> |
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<include file="$(find mavros)/launch/px4.launch"> |
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<!-- GCS link is provided by SITL --> |
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<arg name="gcs_url" value=""/> |
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<arg name="fcu_url" value="$(arg fcu_url)"/> |
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/> |
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</include> |
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</launch>
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