59 lines
2.2 KiB
Plaintext
59 lines
2.2 KiB
Plaintext
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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="spiri"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- MAVROS configs -->
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="respawn_mavros" default="false"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<!-- GCS link is provided by SITL -->
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
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</include>
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</launch>
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