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multi uav launch: spawn urdf

This commit is contained in:
Anthony Lamping 2018-02-05 15:33:38 -05:00 committed by Lorenz Meier
parent 0413f407a5
commit 74bd40c09d
1 changed files with 3 additions and 3 deletions
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6
launch/single_vehcile_spawn.launch
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@ -15,17 +15,17 @@
<arg name="cmd" default="$(find xacro)/xacro.py $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) > $(arg vehicle)_$(arg ID).urdf ; 'gz sdf -p $(arg vehicle)_$(arg ID).urdf'" />
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>
<param command="$(arg cmd)" name="$(arg vehicle)_$(arg ID)_sdf" />
<param command="$(arg cmd)" name="rotors_description" />
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
</node>
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model"
args="-sdf -param $(arg vehicle)_$(arg ID)_sdf -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)" respawn="false"/>
args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>