forked from Archive/PX4-Autopilot
60 lines
2.3 KiB
XML
60 lines
2.3 KiB
XML
<launch>
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<!-- MAVROS posix SITL environment launch script -->
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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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<arg name="est" default="lpe"/>
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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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<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
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<arg name="headless" default="false"/>
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<arg name="gui" default="true"/>
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<arg name="ns" default="/"/>
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
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<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="rcS" value="$(arg rcS)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="ns" value="$(arg ns)"/>
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<arg name="debug" value="$(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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</include>
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<include file="$(find px4)/launch/mavros.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
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<arg name="config_yaml" value="$(arg config_yaml)" />
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</include>
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</launch>
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
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