15 lines
911 B
XML
15 lines
911 B
XML
<launch>
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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="master 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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</launch>
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