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18 lines
786 B
18 lines
786 B
<?xml version="1.0"?> |
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<launch> |
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<!-- Posix SITL PX4 launch script --> |
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<!-- Launches Only PX4 SITL. This can be used by external projects --> |
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<!-- PX4 config arguments --> |
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<arg name="est" default="ekf2"/> |
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<arg name="vehicle" default="iris"/> |
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<arg name="ID" default="0"/> |
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<arg name="interactive" default="true"/> |
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<env name="PX4_SIM_MODEL" value="$(arg vehicle)" /> |
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<env name="PX4_ESTIMATOR" value="$(arg est)" /> |
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<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/> |
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<arg if="$(arg interactive)" name="px4_command_arg1" value=""/> |
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<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)"> |
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</node> |
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</launch>
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