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solo launch file

This commit is contained in:
FranckHumanitas 2017-04-12 21:38:07 +00:00
parent 77adf24d30
commit 3ee97bcf20
1 changed files with 42 additions and 0 deletions
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launch/rosbuzz-solo.launch Normal file
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<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="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/node.launch">
<arg name="pluginlists_yaml" value="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="/home/pi/ros_catkinKin_ws/src/mavros/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" />
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_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="xbee_status_srv" value="/xbee_status"/>
<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/stand_by.bo"/>
</node>
</launch>