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fix mavros launch scripts & use non-unified startup scripts 

This is to not lose any existing functionality until we have everything
unified.
This commit is contained in:
Beat Küng 2018-08-04 15:17:17 +02:00 committed by Lorenz Meier
parent ec09379813
commit f748c8d883
3 changed files with 4 additions and 5 deletions
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2
launch/mavros_posix_sitl.launch
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@ -14,7 +14,7 @@
<arg name="vehicle" default="iris"/> <arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS"/> <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<!-- gazebo configs --> <!-- gazebo configs -->
<arg name="gui" default="true"/> <arg name="gui" default="true"/>

5
launch/posix_sitl.launch
View File

@ -14,7 +14,7 @@
<arg name="vehicle" default="iris"/> <arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS"/> <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<!-- gazebo configs --> <!-- gazebo configs -->
<arg name="gui" default="true"/> <arg name="gui" default="true"/>
@ -28,7 +28,7 @@
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/> <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/> <arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl" pkg="px4" type="px4" output="screen" <node name="sitl" pkg="px4" type="px4" output="screen"
args="$(arg rootfs) $(arg rcS) $(arg px4_command_arg1)" /> args="$(find px4)/ROMFS/px4fmu_common -s $(arg rcS) $(arg px4_command_arg1)" required="true"/>
<!-- Gazebo sim --> <!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
@ -41,7 +41,6 @@
</include> </include>
<!-- gazebo model --> <!-- gazebo model -->
<node name="$(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 $(arg Y)"/> <node name="$(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>
<!-- This will set the environment variable needed to select iris in the startup. --> <!-- This will set the environment variable needed to select iris in the startup. -->
<machine name="px4" env-loader="iris_env.sh" address="none" /> <machine name="px4" env-loader="iris_env.sh" address="none" />

2
launch/single_vehicle_spawn.launch
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@ -23,7 +23,7 @@
<!-- PX4 SITL --> <!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/> <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/> <arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4) -s $(arg rcS) -i $(arg ID) $(arg px4_command_arg1)"> <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s $(arg rcS) -i $(arg ID) $(arg px4_command_arg1)">
</node> </node>
<!-- spawn vehicle --> <!-- spawn vehicle -->
<node name="$(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 $(arg Y)"/> <node name="$(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)"/>