2019-03-15 01:37:23 -03:00
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<!-- Test a mission -->
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<arg name="est" default="ekf2"/>
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<arg name="gui" default="false"/>
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<arg name="interactive" default="false"/>
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<arg name="mission" default="avoidance"/>
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2019-08-02 08:09:48 -03:00
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<arg name="sdf" default="$(find avoidance)/sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
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2019-03-15 01:37:23 -03:00
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<arg name="vehicle" default="iris_obs_avoid"/>
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2019-08-02 08:09:48 -03:00
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<arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
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2019-03-15 01:37:23 -03:00
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="est" value="$(arg est)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="respawn_gazebo" value="true"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="verbose" value="true"/>
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<arg name="world" value="$(arg world)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
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2019-10-07 12:13:17 -03:00
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<arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
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2019-03-15 01:37:23 -03:00
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
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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="respawn_mavros" value="true"/>
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</include>
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<!-- Transformation Publishers -->
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<node pkg="tf" type="static_transform_publisher" name="tf_front_camera"
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args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="tf_right_camera"
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args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="tf_left_camera"
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args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/>
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<!-- Suppress console outputs -->
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
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<!-- Launch Local Planner -->
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<arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/>
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<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen">
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<param name="goal_x_param" value="17" />
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<param name="goal_y_param" value="15"/>
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<param name="goal_z_param" value="3" />
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<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
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</node>
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<!-- ROStest -->
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<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
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</launch>
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