mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
21ea0d9794
Add launch module to ardupilot_sitl package - Move body of launch scripts into package for reuse. - Add utilities module. Update launch scripts - Provide type hints. - Add arguments to sitl.launch.py. - Fix formatting bug in sitl.launch.py home argument. Update micro_ros_agent launch script - Modify import for lauch_ros.actions.Node. - Change argument order in node initialiser. - Add args for UDP transport and set as default. Update ROS 2 DDS default params - Add default params for both serial and UDP transports. - Add DDS_ENABLE. Rename ROS 2 sitl_dds launch script - Rename sitl_dds launch script with serial suffix. - Add launch script for UDP transport. Update ROS 2 launch test fixtures - Make common test fixtures more granular. - Add fixtures and tests for UDP transport. - Update ROS 2 package.xml dependencies - Use yield rather than return in test fixtures. - Use ardupilot_sitl launch module directly. - Correct return type descriptions. - Fix flake8 failure. Update ROS 2 README - Update launch instructions. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
# Copyright 2023 ArduPilot.org.
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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"""
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Launch ArduPilot SITL.
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Run with default arguments:
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ros2 launch ardupilot_sitl sitl.launch.py
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Show launch arguments:
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ros2 launch ardupilot_sitl sitl.launch.py --show-args
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"""
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from launch import LaunchDescription
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from ardupilot_sitl.launch import SITLLaunch
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def generate_launch_description() -> LaunchDescription:
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"""Generate a launch description for ArduPilot SITL."""
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return SITLLaunch.generate_launch_description()
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