21 lines
891 B
XML
21 lines
891 B
XML
<launch>
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<arg name="port" default="/dev/ttyUSB0"/>
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<arg name="baud" default="9600"/>
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<!-- master / slave-->
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<arg name="drone" default="master"/>
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<!-- swarm / solo -->
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<arg name="mode" default="swarm"/>
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<!-- xbee_mav Drone type and Commununication Mode -->
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="$(arg drone) $(arg mode)" output="screen" />
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<!-- xbee_mav Topics and Services Names -->
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<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
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<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
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<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
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<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
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<param name="USB_port" type="str" value="$(arg port)" />
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<param name="status_service" type="str" value="network_status" />
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<param name="Baud_rate" type="double" value="$(arg baud)" />
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</launch>
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