forked from Archive/PX4-Autopilot
45 lines
2.0 KiB
XML
45 lines
2.0 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL environment launch script -->
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<!-- launches PX4 SITL, Gazebo environment, 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 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="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL -->
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<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
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<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
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<node name="sitl" pkg="px4" type="px4" output="screen"
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args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
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<!-- Gazebo sim -->
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<include file="$(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="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- gazebo model -->
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<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)"/>
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</launch>
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