mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.2 KiB
XML
34 lines
1.2 KiB
XML
<?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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