forked from Archive/PX4-Autopilot
33 lines
1.8 KiB
XML
33 lines
1.8 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL environment launch script -->
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<!-- launchs PX4 SITL and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and config -->
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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="1"/>
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<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
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<env name="PX4_ESTIMATOR" value="$(arg est)" />
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<arg name="mavlink_udp_port" default="14560"/>
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<arg name="mavlink_tcp_port" default="4560"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- generate urdf vehicle model -->
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<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) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
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<param command="$(arg cmd)" name="rotors_description"/>
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<!-- PX4 SITL -->
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<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
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<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
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<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
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</node>
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<!-- spawn vehicle -->
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<node name="$(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)"/>
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</launch>
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