forked from Archive/PX4-Autopilot
53 lines
2.7 KiB
XML
53 lines
2.7 KiB
XML
<?xml version="1.0"?>
|
|
<launch>
|
|
<!-- Posix SITL MAVROS integration tests -->
|
|
<!-- Test a mission -->
|
|
<arg name="est" default="ekf2"/>
|
|
<arg name="gui" default="false"/>
|
|
<arg name="interactive" default="false"/>
|
|
<arg name="mission" default="avoidance"/>
|
|
<arg name="sdf" default="$(find avoidance)/sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
|
|
<arg name="vehicle" default="iris_obs_avoid"/>
|
|
<arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
|
|
<!-- PX4 SITL and Gazebo -->
|
|
<include file="$(find px4)/launch/posix_sitl.launch">
|
|
<arg name="est" value="$(arg est)"/>
|
|
<arg name="gui" value="$(arg gui)"/>
|
|
<arg name="interactive" value="$(arg interactive)"/>
|
|
<arg name="respawn_gazebo" value="true"/>
|
|
<arg name="sdf" value="$(arg sdf)"/>
|
|
<arg name="vehicle" value="$(arg vehicle)"/>
|
|
<arg name="verbose" value="true"/>
|
|
<arg name="world" value="$(arg world)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/node.launch">
|
|
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
|
|
<arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
|
|
<arg name="tgt_system" value="1"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
<arg name="respawn_mavros" value="true"/>
|
|
</include>
|
|
<!-- Transformation Publishers -->
|
|
<node pkg="tf" type="static_transform_publisher" name="tf_front_camera"
|
|
args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
|
|
<node pkg="tf" type="static_transform_publisher" name="tf_right_camera"
|
|
args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/>
|
|
<node pkg="tf" type="static_transform_publisher" name="tf_left_camera"
|
|
args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/>
|
|
<!-- Suppress console outputs -->
|
|
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
|
|
<!-- Launch Local Planner -->
|
|
<arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/>
|
|
<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen">
|
|
<param name="goal_x_param" value="17" />
|
|
<param name="goal_y_param" value="15"/>
|
|
<param name="goal_z_param" value="3" />
|
|
<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
|
|
</node>
|
|
<!-- ROStest -->
|
|
<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
|
|
</launch>
|