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# Copyright 2023 ArduPilot.org.
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
"""
Launch ArduPilot SITL and a non-interactive instance of MAVProxy.
Run with default arguments:
ros2 launch ardupilot_sitl sitl_mavproxy.launch.py
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
"""Generate a launch description for combined SITL and MAVProxy."""
# Compose launch files.
sitl = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
FindPackageShare("ardupilot_sitl"),
"launch",
"sitl.launch.py",
]
),
)
mavproxy = IncludeLaunchDescription(
"mavproxy.launch.py",
return LaunchDescription([sitl, mavproxy])