px4-firmware/launch/mavros_posix_sitl.launch

<launch>

    <!-- MAVROS posix SITL environment launch script -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>


    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>

    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>

    <arg name="headless" default="false"/>
    <arg name="gui" default="true"/>
    <arg name="ns" default="/"/>
    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>

    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>

    <arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
    <arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />

    <include file="$(find px4)/launch/posix_sitl.launch">
        <arg name="x" value="$(arg x)"/>
        <arg name="y" value="$(arg y)"/>
        <arg name="z" value="$(arg z)"/>
        <arg name="R" value="$(arg R)"/>
        <arg name="P" value="$(arg P)"/>
        <arg name="Y" value="$(arg Y)"/>
        <arg name="world" value="$(arg world)"/>
        <arg name="vehicle" value="$(arg vehicle)"/>
        <arg name="sdf" value="$(arg sdf)"/>
        <arg name="rcS" value="$(arg rcS)"/>
        <arg name="headless" value="$(arg headless)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="ns" value="$(arg ns)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
    </include>

    <include file="$(find px4)/launch/mavros.launch">
        <arg name="ns" value="$(arg ns)"/>
        <arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
        <arg name="fcu_url" value="$(arg fcu_url)"/>
        <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
        <arg name="config_yaml" value="$(arg config_yaml)" />
    </include>
</launch>

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