px4-firmware/test/mavros_posix_test_safe_land...

52 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="MC_safe_landing"/>
<arg name="sdf" default="$(find avoidance)/sim/models/iris_downwards_camera/iris_downwards_camera.sdf"/>
<arg name="vehicle" default="iris_obs_avoid"/>
<arg name="world" default="$(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 mavros)/launch/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_depth_camera"
args="0 0 0 1.57 3.14 0 fcu camera_link 10"/>
<!-- Suppress console outputs -->
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
<!-- Launch Local Planner -->
<arg name="pointcloud_topics" default="/camera/depth/points"/>
<node name="safe_landing_planner_node" pkg="safe_landing_planner" type="safe_landing_planner_node" output="screen">
<param name="pointcloud_topics" value="$(arg pointcloud_topics)" />
</node>
<node name="waypoint_generator_node" pkg="safe_landing_planner" type="waypoint_generator_node" output="screen" >
</node>
<node name="dynparam_slpn" pkg="dynamic_reconfigure" type="dynparam" args="load safe_landing_planner_node $(find safe_landing_planner)/cfg/slpn.yaml" />
<node name="dynparam_wpgn" pkg="dynamic_reconfigure" type="dynparam" args="load waypoint_generator_node $(find safe_landing_planner)/cfg/wpgn.yaml" />
<!-- ROStest -->
<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
</launch>