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px4-firmware
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px4-firmware/launch/px4.launch

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launch: add px4.launch script that only starts the px4 binary This provides a clean ROS interface for external projects which is independent from the px4 CLI interface. It can be used with: ``` <include file="$(find px4)/launch/px4.launch"> </include> ```
2018-08-16 05:06:07 -03:00
<?xml version="1.0"?>
<launch>
<!-- Posix SITL PX4 launch script -->
<!-- Launches Only PX4 SITL. This can be used by external projects -->
<!-- PX4 config arguments -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="0"/>
<arg name="interactive" default="true"/>
SITL Gazebo classic make airframes simulator specific
2023-01-04 22:12:08 -04:00
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
Fix interactive shell with roslaunch (#14919) Fixes the interactive shell that was not working previously when starting px4 sitl with roslaunch
2020-05-17 18:39:02 -03:00
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
posix: enable ROMFSROOT This will copy the ROMFS into the build directory under etc/, and thus needs a change of the PX4 startup parameters and mixer paths.
2020-09-10 08:33:29 -03:00
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
launch: add px4.launch script that only starts the px4 binary This provides a clean ROS interface for external projects which is independent from the px4 CLI interface. It can be used with: ``` <include file="$(find px4)/launch/px4.launch"> </include> ```
2018-08-16 05:06:07 -03:00
</node>
</launch>