px4-firmware/launch/posix_sitl.launch

<launch>

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

    <node name="sitl" pkg="px4" type="px4" output="screen"
        args="$(find px4) $(arg rcS)">
    </node>

    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="headless" value="$(arg headless)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(arg world)" />
        <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>

    <node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
        args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>


</launch>

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