px4-firmware/launch/gazebo_ardrone_empty_world....

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XML

<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="ardrone"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find rotors_gazebo)/launch/ardrone_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/ardrone.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>