forked from Archive/PX4-Autopilot
18 lines
756 B
XML
18 lines
756 B
XML
<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL PX4 launch script -->
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<!-- Launches Only PX4 SITL. This can be used by external projects -->
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<!-- PX4 config arguments -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="iris"/>
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<arg name="ID" default="0"/>
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<arg name="interactive" default="true"/>
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<env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
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<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
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<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
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<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
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</node>
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</launch>
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