forked from Archive/PX4-Autopilot
56 lines
2.2 KiB
Plaintext
56 lines
2.2 KiB
Plaintext
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<?xml version="1.0"?>
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<launch>
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<arg name="headless" default="false"/>
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<arg name="gui" default="true"/>
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<arg name="enable_logging" default="false"/>
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<arg name="enable_ground_truth" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="ns" default="iris"/>
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<arg name="log_file" default="$(arg ns)"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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</include>
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<group ns="iris">
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<include file="$(find rotors_gazebo)/launch/spawn_iris.launch">
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<arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" />
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<arg name="enable_logging" value="$(arg enable_logging)" />
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
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<arg name="log_file" value="$(arg log_file)"/>
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<arg name="x" value="1"/>
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<arg name="y" value="0"/>
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</include>
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<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)" />
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</include>
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</group>
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<include file="$(find px4)/launch/iris.launch">
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<arg name="ns" value="iris"/>
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</include>
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<group ns="ardrone">
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<include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
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<arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" />
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<arg name="enable_logging" value="$(arg enable_logging)" />
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
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<arg name="log_file" value="$(arg log_file)"/>
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<arg name="x" value="-1"/>
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<arg name="y" value="0"/>
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</include>
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<arg name="fcu_url" default="udp://localhost:14570@localhost:14575" />
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)" />
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</include>
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</group>
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<include file="$(find px4)/launch/ardrone.launch">
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<arg name="ns" value="ardrone"/>
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<arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/>
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</include>
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</launch>
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