From b1f08a96406c806b3f8891b1786a3e304d6cff9d Mon Sep 17 00:00:00 2001
From: Anthony Lamping <lamping.ap@gmail.com>
Date: Fri, 9 Feb 2018 13:40:38 -0500
Subject: [PATCH] ROS launch: cleanup

* remove non-functional gazebo headless arg
* remove unused namespace args
* simplify mavros launch, use mavros's px4.launch instead
* fix single_vehicle_spawn spelling
* formatting with xmllint: remove empty lines, set intent to 4 spaces, add xml tag for editors, add comments to break up spections
* remove old and deprecated launch files
---
 launch/ardrone.launch                         | 22 -----
 launch/example.launch                         |  8 --
 launch/gazebo_ardrone_empty_world.launch      | 21 ----
 ...e_empty_world_offboard_attitudedemo.launch | 14 ---
 ...e_empty_world_offboard_positiondemo.launch | 14 ---
 launch/gazebo_ardrone_house_world.launch      | 21 ----
 launch/gazebo_iris_empty_world.launch         | 21 ----
 launch/gazebo_iris_house_world.launch         | 21 ----
 launch/gazebo_iris_mavros_posix_sitl.launch   | 23 -----
 launch/gazebo_iris_outdoor_world.launch       | 21 ----
 launch/hippocampus.launch                     | 59 ------------
 launch/iris.launch                            | 23 -----
 launch/mavros.launch                          | 25 -----
 launch/mavros_posix_sitl.launch               | 35 +++----
 launch/mavros_sitl.launch                     | 21 ----
 launch/multi_uav.launch                       | 55 -----------
 launch/multi_uav_mavros_sitl.launch           | 95 +++++++------------
 launch/multicopter.launch                     | 20 ----
 launch/multicopter_w.launch                   | 14 ---
 launch/multicopter_x.launch                   | 14 ---
 launch/posix_sitl.launch                      | 36 +++----
 ...awn.launch => single_vehicle_spawn.launch} | 29 +++---
 test/mavros_posix_test_mission.test           | 15 +--
 test/mavros_posix_tests_iris_opt_flow.test    | 17 ++--
 test/mavros_posix_tests_missions.test         | 25 ++---
 test/mavros_posix_tests_offboard_attctl.test  | 15 +--
 test/mavros_posix_tests_offboard_posctl.test  | 15 +--
 27 files changed, 104 insertions(+), 595 deletions(-)
 delete mode 100644 launch/ardrone.launch
 delete mode 100644 launch/example.launch
 delete mode 100644 launch/gazebo_ardrone_empty_world.launch
 delete mode 100644 launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
 delete mode 100644 launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
 delete mode 100644 launch/gazebo_ardrone_house_world.launch
 delete mode 100644 launch/gazebo_iris_empty_world.launch
 delete mode 100644 launch/gazebo_iris_house_world.launch
 delete mode 100644 launch/gazebo_iris_mavros_posix_sitl.launch
 delete mode 100644 launch/gazebo_iris_outdoor_world.launch
 delete mode 100644 launch/hippocampus.launch
 delete mode 100644 launch/iris.launch
 delete mode 100644 launch/mavros.launch
 delete mode 100644 launch/mavros_sitl.launch
 delete mode 100644 launch/multi_uav.launch
 delete mode 100644 launch/multicopter.launch
 delete mode 100644 launch/multicopter_w.launch
 delete mode 100644 launch/multicopter_x.launch
 rename launch/{single_vehcile_spawn.launch => single_vehicle_spawn.launch} (60%)

diff --git a/launch/ardrone.launch b/launch/ardrone.launch
deleted file mode 100644
index db980731fe..0000000000
--- a/launch/ardrone.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
-<arg name="ns"/>
-<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
-
-<include file="$(find px4)/launch/multicopter_x.launch">
-	<arg name="ns" value="$(arg ns)"/>
-	<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
-</include>
-
-<group ns="$(arg ns)">
-	<param name="MPP_XY_P" type="double" value="1.0" />
-	<param name="MPP_XY_FF" type="double" value="0.1" />
-	<param name="MPP_XY_VEL_P" type="double" value="0.01" />
-	<param name="MPP_XY_VEL_I" type="double" value="0.0" />
-	<param name="MPP_XY_VEL_D" type="double" value="0.01" />
-	<param name="MPP_XY_VEL_MAX" type="double" value="2.0" />
-	<param name="MPP_Z_VEL_P" type="double" value="0.3" />
-	<param name="MPP_Z_P" type="double" value="2" />
-	<param name="vehicle_model" type="string" value="ardrone" />
-</group>
-
-</launch>
diff --git a/launch/example.launch b/launch/example.launch
deleted file mode 100644
index 39da4b3d42..0000000000
--- a/launch/example.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-
-<group ns="px4_example">
-	<node pkg="px4" name="subscriber" type="subscriber"/>
-	<node pkg="px4" name="publisher" type="publisher"/>
-</group>
-
-</launch>
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
deleted file mode 100644
index 7243e7476e..0000000000
--- a/launch/gazebo_ardrone_empty_world.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-    <arg name="headless" default="false"/>
-    <arg name="gui" default="true"/>
-    <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="true"/>
-    <arg name="ns" default="ardrone"/>
-    <arg name="log_file" default="$(arg ns)"/>
-
-    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world.launch">
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-    </include>
-    <include file="$(find px4)/launch/ardrone.launch">
-	<arg name="ns" value="$(arg ns)"/>
-    </include>
-
-</launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
deleted file mode 100644
index 1309529b63..0000000000
--- a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-<arg name="ns" default="ardrone"/>
-
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
-	<arg name="ns" value="$(arg ns)"/>
-</include>
-<include file="$(find px4)/launch/mavros_sitl.launch">
-	<arg name="ns" value="$(arg ns)"/>
-</include>
-<group ns="$(arg ns)">
-	<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
-</group>
-
-</launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
deleted file mode 100644
index 0371306ce5..0000000000
--- a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-<arg name="ns" default="ardrone"/>
-
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
-	<arg name="ns" value="$(arg ns)"/>
-</include>
-<include file="$(find px4)/launch/mavros_sitl.launch">
-	<arg name="ns" value="$(arg ns)"/>
-</include>
-<group ns="$(arg ns)">
-	<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
-</group>
-
-</launch>
diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch
deleted file mode 100644
index 89f27c901f..0000000000
--- a/launch/gazebo_ardrone_house_world.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-    <arg name="headless" default="false"/>
-    <arg name="gui" default="true"/>
-    <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="true"/>
-    <arg name="ns" default="ardrone"/>
-    <arg name="log_file" default="$(arg ns)"/>
-
-    <include file="$(find rotors_gazebo)/launch/ardrone_house_world.launch">
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-    </include>
-    <include file="$(find px4)/launch/ardrone.launch">
-	<arg name="ns" value="$(arg ns)"/>
-    </include>
-
-</launch>
diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch
deleted file mode 100644
index 0e80208e67..0000000000
--- a/launch/gazebo_iris_empty_world.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-    <arg name="headless" default="false"/>
-    <arg name="gui" default="true"/>
-    <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="true"/>
-    <arg name="ns" default="iris"/>
-    <arg name="log_file" default="$(arg ns)"/>
-
-    <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-    </include>
-    <include file="$(find px4)/launch/iris.launch">
-	<arg name="ns" value="$(arg ns)"/>
-    </include>
-
-</launch>
diff --git a/launch/gazebo_iris_house_world.launch b/launch/gazebo_iris_house_world.launch
deleted file mode 100644
index d0e824d4b5..0000000000
--- a/launch/gazebo_iris_house_world.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-    <arg name="headless" default="false"/>
-    <arg name="gui" default="true"/>
-    <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="true"/>
-    <arg name="ns" default="iris"/>
-    <arg name="log_file" default="$(arg ns)"/>
-
-    <include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch">
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-    </include>
-    <include file="$(find px4)/launch/iris.launch">
-	<arg name="ns" value="$(arg ns)"/>
-    </include>
-
-</launch>
diff --git a/launch/gazebo_iris_mavros_posix_sitl.launch b/launch/gazebo_iris_mavros_posix_sitl.launch
deleted file mode 100644
index 8662dad9a8..0000000000
--- a/launch/gazebo_iris_mavros_posix_sitl.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-
-    <arg name="headless" default="false"/>
-    <arg name="gui" default="true"/>
-    <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="true"/>
-    <arg name="ns" default="iris"/>
-    <arg name="log_file" default="$(arg ns)"/>
-    <arg name="mavlink_bridge_url" default="udp://localhost:14553@localhost:14560" />
-
-    <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-    </include>
-    <include file="$(find mavros)/launch/mavlink_bridge.launch">
-    <arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
-    <arg name="ns" value="$(arg ns)"/>
-    </include>
-
-</launch>
diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch
deleted file mode 100644
index e75e57b877..0000000000
--- a/launch/gazebo_iris_outdoor_world.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-    <arg name="headless" default="false"/>
-    <arg name="gui" default="true"/>
-    <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="true"/>
-    <arg name="ns" default="iris"/>
-    <arg name="log_file" default="$(arg ns)"/>
-
-    <include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch">
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-    </include>
-    <include file="$(find px4)/launch/iris.launch">
-	<arg name="ns" value="$(arg ns)"/>
-    </include>
-
-</launch>
diff --git a/launch/hippocampus.launch b/launch/hippocampus.launch
deleted file mode 100644
index 56e5720c4e..0000000000
--- a/launch/hippocampus.launch
+++ /dev/null
@@ -1,59 +0,0 @@
-<launch>
-
-    <!--
-        MAVROS posix SITL environment launch script modified for hippocam,pus from mavros_posix_sitl.
-        The HippoCampus is an autonomous underwater vehicle (AUV) designed by the Technical University Hamburg-Harburg.
-        https://www.tuhh.de/mum/forschung/forschungsgebiete-und-projekte/flow-field-estimation-with-a-swarm-of-auvs.html
-    -->
-
-    <arg name="x" default="0"/>
-    <arg name="y" default="0"/>
-    <arg name="z" default="0"/>
-    <arg name="R" default="0"/>
-    <arg name="P" default="0"/>
-    <arg name="Y" default="0"/>
-
-
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="hippocampus"/>
-    <arg name="world" default="$(find px4)/Tools/sitl_gazebo/worlds/hippocampus.world"/>
-    <arg name="sdf" default="$(find px4)/Tools/sitl_gazebo/models/$(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="fcu_url" default="udp://:14540@localhost:14557"/>
-
-    <arg name="debug" default="false"/>
-    <arg name="verbose" default="false"/>
-    <arg name="paused" default="false"/>
-
-    <include file="$(find px4)/launch/posix_sitl.launch">
-        <arg name="x" value="$(arg x)"/>
-        <arg name="y" value="$(arg y)"/>
-        <arg name="z" value="$(arg z)"/>
-        <arg name="R" value="$(arg R)"/>
-        <arg name="P" value="$(arg P)"/>
-        <arg name="Y" value="$(arg Y)"/>
-        <arg name="world" value="$(arg world)"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="sdf" value="$(arg sdf)"/>
-        <arg name="rcS" value="$(arg rcS)"/>
-        <arg name="headless" value="$(arg headless)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-    </include>
-
-    <include file="$(find px4)/launch/mavros.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
-        <arg name="fcu_url" value="$(arg fcu_url)"/>
-    </include>
-</launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/iris.launch b/launch/iris.launch
deleted file mode 100644
index 798b761d76..0000000000
--- a/launch/iris.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-<arg name="ns"/>
-<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
-
-<include file="$(find px4)/launch/multicopter_w.launch">
-	<arg name="ns" value="$(arg ns)"/>
-	<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
-</include>
-
-<group ns="$(arg ns)">
-	<param name="mixer" type="string" value="i" />
-	<param name="MPP_XY_P" type="double" value="1.0" />
-	<param name="MPP_XY_FF" type="double" value="0.0" />
-	<param name="MPP_XY_VEL_P" type="double" value="0.01" />
-	<param name="MPP_XY_VEL_I" type="double" value="0.0" />
-	<param name="MPP_XY_VEL_D" type="double" value="0.01" />
-	<param name="MPP_XY_VEL_MAX" type="double" value="2.0" />
-	<param name="MPP_Z_VEL_P" type="double" value="0.3" />
-	<param name="MPP_Z_P" type="double" value="2" />
-	<param name="vehicle_model" type="string" value="iris" />
-</group>
-
-</launch>
diff --git a/launch/mavros.launch b/launch/mavros.launch
deleted file mode 100644
index ddb78f955a..0000000000
--- a/launch/mavros.launch
+++ /dev/null
@@ -1,25 +0,0 @@
-<launch>
-    <!-- MAVROS launch script PX4 (default) -->
-
-    <arg name="ns" default="/" />
-    <arg name="fcu_url" default="" />
-    <arg name="gcs_url" default="udp://:14550@:14555" />
-    <arg name="tgt_system" default="1" />
-    <arg name="tgt_component" default="1" />
-    <arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
-    <arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
-
-    <group ns="$(arg ns)">
-        <include file="$(find mavros)/launch/node.launch">
-            <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
-            <arg name="config_yaml" value="$(arg config_yaml)" />
-
-            <arg name="fcu_url" value="$(arg fcu_url)" />
-            <arg name="gcs_url" value="$(arg gcs_url)" />
-            <arg name="tgt_system" value="$(arg tgt_system)" />
-            <arg name="tgt_component" value="$(arg tgt_component)" />
-        </include>
-    </group>
-</launch>
-
-<!-- vim: set ft=xml et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index 390452cd86..e521795c18 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -1,34 +1,29 @@
+<?xml version="1.0"?>
 <launch>
-
     <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
+    <!-- vehicle pose -->
     <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"/>
-
-
+    <!-- vehicle model and world -->
     <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)/$(arg vehicle)"/>
-
-    <arg name="headless" default="false"/>
+    <!-- gazebo configs -->
     <arg name="gui" default="true"/>
-    <arg name="ns" default="/"/>
-    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
-
     <arg name="debug" default="false"/>
     <arg name="verbose" default="false"/>
     <arg name="paused" default="false"/>
     <arg name="respawn_gazebo" default="false"/>
-
-    <arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
-    <arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
-
+    <!-- MAVROS connection -->
+    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
+    <!-- PX4 SITL and Gazebo -->
     <include file="$(find px4)/launch/posix_sitl.launch">
         <arg name="x" value="$(arg x)"/>
         <arg name="y" value="$(arg y)"/>
@@ -40,22 +35,16 @@
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="sdf" value="$(arg sdf)"/>
         <arg name="rcS" value="$(arg rcS)"/>
-        <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
-        <arg name="ns" value="$(arg ns)"/>
         <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>
-
-    <include file="$(find px4)/launch/mavros.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
+    <!-- MAVROS -->
+    <include file="$(find mavros)/launch/px4.launch">
+        <!-- GCS link is provided by SITL -->
+        <arg name="gcs_url" value=""/>
         <arg name="fcu_url" value="$(arg fcu_url)"/>
-        <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
-        <arg name="config_yaml" value="$(arg config_yaml)" />
     </include>
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch
deleted file mode 100644
index 50ede33f9c..0000000000
--- a/launch/mavros_sitl.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-<!-- MAVROS launch script for deprecated multiplatform SITL -->
-
-<arg name="ns" default="/" />
-<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
-<arg name="gcs_url" default="" />
-<arg name="tgt_system" default="1" />
-<arg name="tgt_component" default="50" />
-
-<group ns="$(arg ns)">
-	<include file="$(find mavros)/launch/node.launch">
-		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
-		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
-
-		<arg name="fcu_url" value="$(arg fcu_url)" />
-		<arg name="gcs_url" value="$(arg gcs_url)" />
-		<arg name="tgt_system" value="$(arg tgt_system)" />
-		<arg name="tgt_component" value="$(arg tgt_component)" />
-	</include>
-</group>
-</launch>
diff --git a/launch/multi_uav.launch b/launch/multi_uav.launch
deleted file mode 100644
index 6fb1589e80..0000000000
--- a/launch/multi_uav.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="headless" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="enable_logging" default="false"/>
-  <arg name="enable_ground_truth" default="true"/>
-  <arg name="debug" default="false"/>
-  <arg name="ns" default="iris"/>
-  <arg name="log_file" default="$(arg ns)"/>
-
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/>
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="headless" value="$(arg headless)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-  
-   <group ns="iris">
-      <include file="$(find rotors_gazebo)/launch/spawn_iris.launch">
-        <arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" />
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-        <arg name="x" value="1"/>
-        <arg name="y" value="0"/>
-      </include>
-      <arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
-      <include file="$(find mavros)/launch/px4.launch">
-        <arg name="fcu_url" value="$(arg fcu_url)" />
-      </include>
-   </group>
-   <include file="$(find px4)/launch/iris.launch">
-     <arg name="ns" value="iris"/>
-   </include>   
-      
-   <group ns="ardrone">
-      <include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
-        <arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" />
-        <arg name="enable_logging" value="$(arg enable_logging)" />
-        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
-        <arg name="log_file" value="$(arg log_file)"/>
-        <arg name="x" value="-1"/>
-        <arg name="y" value="0"/>
-      </include>
-      <arg name="fcu_url" default="udp://localhost:14570@localhost:14575" />
-      <include file="$(find mavros)/launch/px4.launch">
-        <arg name="fcu_url" value="$(arg fcu_url)" />
-      </include>
-   </group>
-   <include file="$(find px4)/launch/ardrone.launch">
-	<arg name="ns" value="ardrone"/>
-	<arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/>
-   </include>
-
-</launch>   
diff --git a/launch/multi_uav_mavros_sitl.launch b/launch/multi_uav_mavros_sitl.launch
index ebedfc3c3e..5bea67c670 100644
--- a/launch/multi_uav_mavros_sitl.launch
+++ b/launch/multi_uav_mavros_sitl.launch
@@ -1,42 +1,31 @@
+<?xml version="1.0"?>
 <launch>
-
     <!-- MAVROS posix SITL environment launch script -->
-
-    <arg name="debug" default="false"/>
-    <arg name="verbose" default="false"/>
-    <arg name="paused" default="false"/>
-
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
-
-    <arg name="headless" default="false"/>
+    <!-- gazebo configs -->
     <arg name="gui" default="true"/>
-    <arg name="ns" default="/"/>
-
-    <arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
-    <arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
-
-    <!-- Load world -->
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
     <include file="$(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="world_name" value="$(arg world)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
     </include>
-
-    <!-- UAV1 iris_1-->
+    <!-- UAV1 -->
     <group ns="uav1">
-        <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
-        <arg name="gcs_url" value=""/>
-        <arg name="tgt_system" value="1"/> 
-        <arg name="tgt_component" value="1"/>
-        <arg name="rcS1" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_1"/>
+        <!-- MAVROS and vehicle configs -->        
         <arg name="ID" value="1"/>
-
-        <include file="$(find px4)/launch/single_vehcile_spawn.launch">
+        <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
             <arg name="x" value="0"/>
             <arg name="y" value="0"/>
             <arg name="z" value="0"/>
@@ -44,32 +33,25 @@
             <arg name="P" value="0"/>
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="rcS" value="$(arg rcS1)"/>
+            <arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
             <arg name="mavlink_udp_port" value="14560"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
-
-        <include file="$(find mavros)/launch/node.launch">
-            <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
-            <arg name="config_yaml" value="$(arg config_yaml)" />
-
-            <arg name="fcu_url" value="$(arg fcu_url)" />
-            <arg name="gcs_url" value="$(arg gcs_url)" />
-            <arg name="tgt_system" value="$(arg tgt_system)" />
-            <arg name="tgt_component" value="$(arg tgt_component)" />
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(arg ID)"/>
+            <arg name="tgt_component" value="1"/>
         </include>
     </group>
-
-    <!-- UAV2 iris_2 -->
+    <!-- UAV2 -->
     <group ns="uav2">
-        <arg name="fcu_url" default="udp://:14541@localhost:14559"/>
-        <arg name="gcs_url" value=""/>
-        <arg name="tgt_system" value="2"/> 
-        <arg name="tgt_component" value="1"/>
-        <arg name="rcS2" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_2"/>
+        <!-- MAVROS and vehicle configs -->
         <arg name="ID" value="2"/>
-
-        <include file="$(find px4)/launch/single_vehcile_spawn.launch">
+        <arg name="fcu_url" default="udp://:14541@localhost:14559"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
             <arg name="x" value="1"/>
             <arg name="y" value="0"/>
             <arg name="z" value="0"/>
@@ -77,21 +59,16 @@
             <arg name="P" value="0"/>
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="rcS" value="$(arg rcS2)"/>
+            <arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
             <arg name="mavlink_udp_port" value="14562"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
-
-        <include file="$(find mavros)/launch/node.launch">
-            <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
-            <arg name="config_yaml" value="$(arg config_yaml)" />
-
-            <arg name="fcu_url" value="$(arg fcu_url)" />
-            <arg name="gcs_url" value="$(arg gcs_url)" />
-            <arg name="tgt_system" value="$(arg tgt_system)" />
-            <arg name="tgt_component" value="$(arg tgt_component)" />
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(arg ID)"/>
+            <arg name="tgt_component" value="1"/>
         </include>
     </group>
-
 </launch>
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
deleted file mode 100644
index bf68da95dd..0000000000
--- a/launch/multicopter.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-<arg name="ns"/>
-<arg name="mavlink_fcu_url"/>
-
-<group ns="$(arg ns)">
-	<node pkg="joy" name="joy_node" type="joy_node"/>
-	<node pkg="px4" name="manual_input" type="manual_input"/>
-	<node pkg="px4" name="commander" type="commander"/>
-	<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
-	<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
-	<node pkg="px4" name="position_estimator" type="position_estimator"/>
-	<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
-	<node pkg="px4" name="mc_pos_control" type="mc_pos_control"/>
-	<node pkg="px4" name="mavlink" type="mavlink">  
-	  <param name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" type="str"/>
-	</node>
-	<!-- <node pkg="rosbag" type="record" name="record" output="screen" args="-a -O px4_multicopter"/> -->
-</group>
-
-</launch>
diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch
deleted file mode 100644
index 617357452f..0000000000
--- a/launch/multicopter_w.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-<arg name="ns"/>
-<arg name="mavlink_fcu_url"/>
-
-<include file="$(find px4)/launch/multicopter.launch">
-	<arg name="ns" value="$(arg ns)"/>
-	<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
-</include>
-
-<group ns="$(arg ns)">
-	<param name="mixer" type="string" value="w" />
-</group>
-
-</launch>
diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch
deleted file mode 100644
index b7db46dcb5..0000000000
--- a/launch/multicopter_x.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-<arg name="ns"/>
-<arg name="mavlink_fcu_url"/>
-
-<include file="$(find px4)/launch/multicopter.launch">
-	<arg name="ns" value="$(arg ns)"/>
-	<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
-</include>
-
-<group ns="$(arg ns)">
-	<param name="mixer" type="string" value="x" />
-</group>
-
-</launch>
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 9e828182c2..215716db07 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -1,45 +1,37 @@
+<?xml version="1.0"?>
 <launch>
-
     <!-- Posix SITL environment launch script -->
+    <!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
+    <!-- vehicle pose -->
     <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"/>
+    <!-- vehicle model and world -->
     <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)/$(arg vehicle)"/>
-
-    <arg name="headless" default="false"/>
+    <!-- gazebo configs -->
     <arg name="gui" default="true"/>
-    <arg name="ns" default="/"/>
-
     <arg name="debug" default="false"/>
     <arg name="verbose" default="false"/>
     <arg name="paused" default="false"/>
     <arg name="respawn_gazebo" default="false"/>
-
-    <node name="sitl" pkg="px4" type="px4" output="screen"
-        args="$(find px4) $(arg rcS)">
-    </node>
-
+    <!-- PX4 SITL -->
+    <node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)"/>
+    <!-- Gazebo sim -->
     <include file="$(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="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 $(arg Y)"/>
-
-
+    <!-- gazebo model -->
+    <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/single_vehcile_spawn.launch b/launch/single_vehicle_spawn.launch
similarity index 60%
rename from launch/single_vehcile_spawn.launch
rename to launch/single_vehicle_spawn.launch
index 62edecb7e2..556fda1a3d 100644
--- a/launch/single_vehcile_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -1,33 +1,26 @@
+<?xml version="1.0"?>
 <launch>
-
     <!-- Posix SITL environment launch script -->
+    <!-- launchs PX4 SITL and spawns vehicle -->
+    <!-- vehicle pose -->
     <arg name="x" default="0"/>
     <arg name="y" default="0"/>
     <arg name="z" default="0"/>
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
+    <!-- vehcile model and config -->
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
     <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
-    <arg name="mavlink_udp_port" default="14560" />
-
-
-
+    <arg name="mavlink_udp_port" default="14560"/>
+    <!-- generate urdf vehicle model -->
     <arg name="cmd" default="$(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="$(arg cmd)" name="rotors_description" />
-
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen"
-        args="$(find px4) $(arg rcS)">
+    <param command="$(arg cmd)" name="rotors_description"/>
+    <!-- PX4 SITL -->
+    <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="-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 $(arg Y)"/>
-
-
+    <!-- spawn vehicle -->
+    <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" 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 $(arg Y)"/>
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/test/mavros_posix_test_mission.test b/test/mavros_posix_test_mission.test
index 5b48ce16d8..06b92aa14a 100644
--- a/test/mavros_posix_test_mission.test
+++ b/test/mavros_posix_test_mission.test
@@ -1,24 +1,19 @@
+<?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-
-    <arg name="ns" default="/"/>
-    <arg name="headless" default="true"/>
+    <!-- Test a mission -->
     <arg name="gui" default="false"/>
     <arg name="est" default="ekf2"/>
     <arg name="mission"/>
     <arg name="vehicle"/>
     <arg name="respawn_gazebo" default="true"/>
-
+    <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="est" value="$(arg est)"/>
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
-
-    <group ns="$(arg ns)">
-        <test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)" />
-    </group>
+    <!-- ROStest -->
+    <test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)"/>
 </launch>
diff --git a/test/mavros_posix_tests_iris_opt_flow.test b/test/mavros_posix_tests_iris_opt_flow.test
index ae174029fd..0ecc9a5dd9 100644
--- a/test/mavros_posix_tests_iris_opt_flow.test
+++ b/test/mavros_posix_tests_iris_opt_flow.test
@@ -1,23 +1,18 @@
+<?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-
-    <arg name="ns" default="/"/>
-    <arg name="headless" default="true"/>
+    <!-- Test offboard local posistion and attitude control with optical flow iris -->
     <arg name="gui" default="false"/>
     <arg name="est" default="ekf2"/>
     <arg name="respawn_gazebo" default="true"/>
-
+    <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="vehicle" value="iris_opt_flow"/>
         <arg name="est" value="$(arg est)"/>
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
-
-    <group ns="$(arg ns)">
-        <test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
-        <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
-    </group>
+    <!-- ROStest -->
+    <test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
+    <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
 </launch>
diff --git a/test/mavros_posix_tests_missions.test b/test/mavros_posix_tests_missions.test
index 2ac8217ad4..88d0b3c42f 100644
--- a/test/mavros_posix_tests_missions.test
+++ b/test/mavros_posix_tests_missions.test
@@ -1,27 +1,22 @@
+<?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-
-    <arg name="ns" default="/"/>
-    <arg name="headless" default="true"/>
+    <!-- Test all missions with standard VTOL -->
     <arg name="gui" default="false"/>
     <arg name="est" default="ekf2"/>
     <arg name="respawn_gazebo" default="true"/>
-
+    <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="vehicle" value="standard_vtol"/>
         <arg name="est" value="$(arg est)"/>
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
-
-    <group ns="$(arg ns)">
-        <test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
-        <test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
-        <test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
-        <test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
-        <test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
-        <test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
-    </group>
+    <!-- ROStest -->
+    <test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
+    <test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
+    <test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
+    <test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
+    <test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
+    <test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
 </launch>
diff --git a/test/mavros_posix_tests_offboard_attctl.test b/test/mavros_posix_tests_offboard_attctl.test
index e6407166f1..0db15caf23 100644
--- a/test/mavros_posix_tests_offboard_attctl.test
+++ b/test/mavros_posix_tests_offboard_attctl.test
@@ -1,22 +1,17 @@
+<?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-
-    <arg name="ns" default="/"/>
-    <arg name="headless" default="true"/>
+    <!-- Test offboard attitude control with iris -->
     <arg name="gui" default="false"/>
     <arg name="est" default="ekf2"/>
     <arg name="respawn_gazebo" default="true"/>
-
+    <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="vehicle" value="iris"/>
         <arg name="est" value="$(arg est)"/>
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
-
-    <group ns="$(arg ns)">
-        <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
-    </group>
+    <!-- ROStest -->
+    <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
 </launch>
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
index 92905e6870..d8a6adee01 100644
--- a/test/mavros_posix_tests_offboard_posctl.test
+++ b/test/mavros_posix_tests_offboard_posctl.test
@@ -1,22 +1,17 @@
+<?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-
-    <arg name="ns" default="/"/>
-    <arg name="headless" default="true"/>
+    <!-- Test offboard local posistion control with iris -->
     <arg name="gui" default="false"/>
     <arg name="est" default="ekf2"/>
     <arg name="respawn_gazebo" default="true"/>
-
+    <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="ns" value="$(arg ns)"/>
-        <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="vehicle" value="iris"/>
         <arg name="est" value="$(arg est)"/>
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
-
-    <group ns="$(arg ns)">
-        <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
-    </group>
+    <!-- ROStest -->
+    <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
 </launch>