From 2a6fe990bc7d6cfa8252c4e20177180fef87fc50 Mon Sep 17 00:00:00 2001
From: Youssof <youssof@spirirobotics.com>
Date: Thu, 6 Jun 2024 15:16:50 -0300
Subject: [PATCH] Convert baud, drone type, and mode into parameters

---
 .gitignore            |  1 +
 launch/xbeemav.launch | 18 +++++++++++-------
 2 files changed, 12 insertions(+), 7 deletions(-)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..600d2d3
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.vscode
\ No newline at end of file
diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch
index 5698534..5c1193e 100644
--- a/launch/xbeemav.launch
+++ b/launch/xbeemav.launch
@@ -1,16 +1,20 @@
 <launch>
 	<arg name="port" default="/dev/ttyUSB0"/>
-	<!--  xmee_mav Drone type and Commununication Mode -->
-	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
-	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master swarm" output="screen" />
-	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
-	<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
-	<!--  xmee_mav Topics and Services Names -->
+	<arg name="baud" default="9600"/>
+	<!-- master / slave-->
+	<arg name="drone" default="master"/>
+	<!-- swarm / solo -->
+	<arg name="mode" default="swarm"/>
+
+	<!--  xbee_mav Drone type and Commununication Mode -->
+	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="$(arg drone) $(arg mode)" output="screen" />
+
+	<!--  xbee_mav Topics and Services Names -->
 	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
 	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
 	<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
 	<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
 	<param name="USB_port" type="str" value="$(arg port)" />
 	<param name="status_service" type="str" value="network_status" />
-	<param name="Baud_rate" type="double" value="230400" />
+	<param name="Baud_rate" type="double" value="$(arg baud)" />
 </launch>