ROSBuzz_MISTLab/launch/rosbuzz-testing.launch

<launch>
	<!-- RUN mavros -->
	<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
	<arg name="gcs_url" default="" />
	<arg name="tgt_system" default="1" />
	<arg name="tgt_component" default="1" />
	<arg name="log_output" default="screen" />

	<include file="$(find mavros)/launch/node.launch">
		<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
		<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />

		<arg name="fcu_url" value="$(arg fcu_url)" />
		<arg name="gcs_url" value="$(arg gcs_url)" />
		<arg name="tgt_system" value="$(arg tgt_system)" />
		<arg name="tgt_component" value="$(arg tgt_component)" />
		<arg name="log_output" value="$(arg log_output)" />
	</include>

	<!-- set streaming rate -->
	<!-- node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" / -->

	<!-- run xbee -->
	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
	<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
	<param name="No_of_dev" type="int" value="3" />

	<!-- run rosbuzz -->
	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
		<rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
		<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testflockfev.bzz" />
		<param name="rcclient" value="true" /> 
		<param name="rcservice_name" value="/buzzcmd" />
		<param name="in_payload" value="/inMavlink"/>
		<param name="out_payload" value="/outMavlink"/>
		<param name="robot_id" value="3"/>
		<param name="No_of_Robots" value="3"/>
		<param name="stand_by" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/stand_by.bo"/>
	</node>

</launch>