forked from Archive/PX4-Autopilot
115 lines
4.9 KiB
XML
115 lines
4.9 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="iris"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- UAV0 -->
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<group ns="uav0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="fcu_url" default="udp://:14540@localhost:14580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="14560"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
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<arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
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<arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- UAV1 -->
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<group ns="uav1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="fcu_url" default="udp://:14541@localhost:14581"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn.launch">
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<arg name="x" value="1"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="14561"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
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<arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
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<arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- UAV2 -->
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<group ns="uav2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="fcu_url" default="udp://:14542@localhost:14582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="1"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="14562"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
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<arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
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<arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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</launch>
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<!-- to add more UAVs (up to 10):
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Increase the id
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Change the name space
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Set the FCU to default="udp://:14540+id@localhost:14550+id"
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Set the malink_udp_port to 14560+id) -->
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