44 lines
1.9 KiB
XML
44 lines
1.9 KiB
XML
<launch>
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<!-- RUN mavros -->
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<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
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<arg name="gcs_url" default="" />
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<arg name="tgt_system" default="1" />
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<arg name="tgt_component" default="1" />
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<arg name="log_output" default="screen" />
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
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<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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<arg name="log_output" value="$(arg log_output)" />
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</include>
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<!-- set streaming rate -->
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<node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" />
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<!-- run xbee -->
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
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<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
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<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
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<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
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<param name="No_of_dev" type="int" value="3" />
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<!-- run rosbuzz -->
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testflockfev.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="3"/>
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<param name="No_of_Robots" value="3"/>
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<param name="stand_by" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/stand_by.bo"/>
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</node>
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</launch>
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