From e855c8c78aecd6c7272ac396683eb6a394528586 Mon Sep 17 00:00:00 2001
From: isvogor <isvogor@gmail.com>
Date: Thu, 23 Feb 2017 10:57:05 -0500
Subject: [PATCH] ...

---
 CMakeLists.txt                     |  1 -
 launch/rosbuzz-testing-sitl.launch | 47 ++++++++++++++++++++++++++++++
 launch/rosbuzz.launch              |  9 +++---
 3 files changed, 51 insertions(+), 6 deletions(-)
 create mode 100644 launch/rosbuzz-testing-sitl.launch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0df4d4c..385dec8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,6 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 ##############################
-#Generate messages#
 ##############################
 
 add_message_files(
diff --git a/launch/rosbuzz-testing-sitl.launch b/launch/rosbuzz-testing-sitl.launch
new file mode 100644
index 0000000..d832e25
--- /dev/null
+++ b/launch/rosbuzz-testing-sitl.launch
@@ -0,0 +1,47 @@
+<launch>
+	<!-- RUN mavros -->
+	<arg name="fcu_url" default="tcp://127.0.0.1:5760" />
+	<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>
+
+	<!-- 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/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
+		<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.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/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
+	</node>
+		
+	<node pkg="rosloader" type="rosloader" name="rosloader" output="screen"/> 
+		
+	<!-- set streaming rate 
+	/mavros/cmd/arming
+	<node pkg="rosservice" type="rosservice" name="stream_rate" args="call /mavros/set_stream_rate 0 10 1" />
+	-->
+	
+
+</launch>
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index 47f5a0f..a187ab4 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -2,15 +2,14 @@
 
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<rosparam file="$(env ROS_WS)/src/ROSBuzz/launch/launch_config/$(env ROBOT).yaml"/>
-		<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/testalone.bzz" />
+		<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
+		<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.bzz" />
         <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="/buzzcmd" />
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
 		<param name="robot_id" value="3"/>
 		<param name="No_of_Robots" value="3"/>
-		<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
-		</node>
-		
+		<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
+		</node>	
 </launch>