px4-firmware/launch/px4.launch

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XML

<?xml version="1.0"?>
<launch>
<!-- Posix SITL PX4 launch script -->
<!-- Launches Only PX4 SITL. This can be used by external projects -->
<!-- PX4 config arguments -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="0"/>
<arg name="interactive" default="true"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<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)">
</node>
</launch>