58 lines
2.7 KiB
XML
58 lines
2.7 KiB
XML
<launch>
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<!-- RUN mavros -->
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<arg name="fcu_url" default="/dev/ttyS0:115200" />
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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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<!-- xmee_mav Drone type and Commununication Mode -->
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<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
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<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
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<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
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<!-- xmee_mav Topics and Services Names -->
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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="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
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<param name="USB_port" type="str" value="/dev/ttyUSB0" />
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<param name="Baud_rate" type="double" value="230400" />
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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="$(find rosbuzz)/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/flock.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="xbee_status_srv" value="xbee_status"/>
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<param name="xbee_plugged" value="true"/>
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<param name="name" value="solos1"/>
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<param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
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</node>
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</launch>
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