px4-firmware/launch/posix_sitl.launch

<launch>

    <!-- Posix SITL environment launch script -->

    <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="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>

    <arg name="headless" default="false"/>
    <arg name="gui" default="true"/>
    <arg name="ns" default="/"/>
    <arg name="build" default="posix_sitl_default"/>

    <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)" />
    </include>

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


</launch>

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