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74 lines
3.1 KiB
74 lines
3.1 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 Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle --> |
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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="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> |
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<!-- gazebo configs --> |
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<arg name="gui" default="true"/> |
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<arg name="debug" default="false"/> |
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<arg name="verbose" default="false"/> |
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<arg name="paused" default="false"/> |
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<!-- Gazebo sim --> |
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<include file="$(find gazebo_ros)/launch/empty_world.launch"> |
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<arg name="gui" value="$(arg gui)"/> |
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<arg name="world_name" value="$(arg world)"/> |
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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="$(arg paused)"/> |
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</include> |
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<!-- UAV1 --> |
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<group ns="uav1"> |
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<!-- MAVROS and vehicle configs --> |
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<arg name="ID" value="1"/> |
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/> |
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<!-- PX4 SITL and vehicle spawn --> |
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<include file="$(find px4)/launch/single_vehicle_spawn.launch"> |
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<arg name="x" value="0"/> |
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<arg name="y" value="0"/> |
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<arg name="z" value="0"/> |
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<arg name="R" value="0"/> |
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<arg name="P" value="0"/> |
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<arg name="Y" value="0"/> |
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<arg name="vehicle" value="$(arg vehicle)"/> |
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<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/> |
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<arg name="mavlink_udp_port" value="14560"/> |
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<arg name="ID" value="$(arg ID)"/> |
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</include> |
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<!-- MAVROS --> |
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<include file="$(find mavros)/launch/px4.launch"> |
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<arg name="fcu_url" value="$(arg fcu_url)"/> |
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<arg name="gcs_url" value=""/> |
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<arg name="tgt_system" value="$(arg ID)"/> |
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<arg name="tgt_component" value="1"/> |
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</include> |
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</group> |
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<!-- UAV2 --> |
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<group ns="uav2"> |
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<!-- MAVROS and vehicle configs --> |
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<arg name="ID" value="2"/> |
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<arg name="fcu_url" default="udp://:14541@localhost:14559"/> |
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<!-- PX4 SITL and vehicle spawn --> |
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<include file="$(find px4)/launch/single_vehicle_spawn.launch"> |
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<arg name="x" value="1"/> |
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<arg name="y" value="0"/> |
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<arg name="z" value="0"/> |
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<arg name="R" value="0"/> |
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<arg name="P" value="0"/> |
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<arg name="Y" value="0"/> |
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<arg name="vehicle" value="$(arg vehicle)"/> |
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<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/> |
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<arg name="mavlink_udp_port" value="14562"/> |
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<arg name="ID" value="$(arg ID)"/> |
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</include> |
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<!-- MAVROS --> |
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<include file="$(find mavros)/launch/px4.launch"> |
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<arg name="fcu_url" value="$(arg fcu_url)"/> |
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<arg name="gcs_url" value=""/> |
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<arg name="tgt_system" value="$(arg ID)"/> |
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<arg name="tgt_component" value="1"/> |
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</include> |
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</group> |
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</launch>
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