forked from Archive/PX4-Autopilot
98 lines
3.8 KiB
Plaintext
98 lines
3.8 KiB
Plaintext
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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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="est" default="ekf2"/>
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<arg name="vehicle" default="iris"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<arg name="headless" default="false"/>
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<arg name="gui" default="true"/>
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<arg name="ns" default="/"/>
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<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
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<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
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<!-- Load world -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)" />
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<arg name="debug" value="$(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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</include>
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<!-- UAV1 iris_1-->
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<group ns="uav1">
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="1"/>
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<arg name="tgt_component" value="1"/>
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<arg name="rcS1" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_1"/>
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<arg name="ID" value="1"/>
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<include file="$(find px4)/launch/single_vehcile_spawn.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="rcS" value="$(arg rcS1)"/>
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<arg name="mavlink_udp_port" value="14560"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
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<arg name="config_yaml" value="$(arg config_yaml)" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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</include>
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</group>
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<!-- UAV2 iris_2 -->
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<group ns="uav2">
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<arg name="fcu_url" default="udp://:14541@localhost:14559"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="2"/>
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<arg name="tgt_component" value="1"/>
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<arg name="rcS2" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_2"/>
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<arg name="ID" value="2"/>
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<include file="$(find px4)/launch/single_vehcile_spawn.launch">
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<arg name="x" value="1"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="rcS" value="$(arg rcS2)"/>
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<arg name="mavlink_udp_port" value="14562"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
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<arg name="config_yaml" value="$(arg config_yaml)" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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</include>
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</group>
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</launch>
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
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