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33 lines
1.2 KiB
33 lines
1.2 KiB
<?xml version="1.0"?> |
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<launch> |
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<!-- UAV0 --> |
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<group ns="uav0"> |
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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://:14550@localhost:14555"/> |
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<!-- MAVROS --> |
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<include file="$(find mavros)/launch/apm.launch"> |
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<arg name="fcu_url" value="$(arg fcu_url)"/> |
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<arg name="gcs_url" value=""/> |
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<arg name="tgt_system" value="$(arg ID)"/> |
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<arg name="tgt_component" value="1"/> |
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</include> |
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</group> |
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<!-- UAV1 --> |
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<group ns="uav1"> |
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<!-- MAVROS and vehicle configs --> |
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<arg name="ID" value="2"/> |
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<arg name="fcu_url" default="udp://:14560@localhost:14565"/> |
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<!-- MAVROS --> |
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<include file="$(find mavros)/launch/apm.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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<!-- to add more UAVs: |
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Increase the id |
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Change the name space |
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Set the FCU to default="udp://:14540+id*10@localhost:14545+id*10" -->
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