mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.9 KiB
Python
61 lines
1.9 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 and a non-interactive instance of MAVProxy.
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Run with default arguments:
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ros2 launch ardupilot_sitl sitl_mavproxy.launch.py
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"""
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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"""Generate a launch description for combined SITL and MAVProxy."""
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sitl = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare("ardupilot_sitl"),
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"launch",
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"sitl.launch.py",
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]
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),
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]
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)
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)
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mavproxy = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare("ardupilot_sitl"),
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"launch",
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"mavproxy.launch.py",
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]
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),
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]
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)
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)
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return LaunchDescription([sitl, mavproxy])
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