From 7d3e844f6c6ae547299678716f86ee2e57b70fdc Mon Sep 17 00:00:00 2001
From: py-humanitas <pierreyves@humanitas.io>
Date: Mon, 19 Jun 2017 16:16:57 -0400
Subject: [PATCH] Fixed README and solo launch file

---
 launch/rosbuzz-solo.launch | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/launch/rosbuzz-solo.launch b/launch/rosbuzz-solo.launch
index 054d18b..dade33d 100644
--- a/launch/rosbuzz-solo.launch
+++ b/launch/rosbuzz-solo.launch
@@ -1,14 +1,14 @@
 <launch>
 	<!-- RUN mavros -->
-	<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
+	<arg name="fcu_url" default="/dev/ttyS0:115200" />
 	<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" />
+	<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)" />
@@ -36,13 +36,14 @@
 	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
 	<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
 	<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
-	
+  <param name="USB_port" type="str" value="/dev/ttyUSB0" />
+  <param name="Baud_rate" type="double" value="230400" />	
 
 
 	<!-- 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/script/testflockfev.bzz" />
+		<rosparam file="$(find rosbuzz)/launch/launch_config/solo.yaml"/>
+		<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
 		<param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="buzzcmd" />
 		<param name="in_payload" value="inMavlink"/>
@@ -50,7 +51,7 @@
 		<param name="xbee_status_srv" value="xbee_status"/>
            	<param name="xbee_plugged" value="true"/>
                 <param name="name" value="solos1"/>
-		<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/stand_by.bzz"/>
+		<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
 	</node>
 
 </launch>