forked from Archive/PX4-Autopilot
43 lines
1.6 KiB
XML
43 lines
1.6 KiB
XML
<launch>
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<!-- 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)/$(arg vehicle)"/>
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<arg name="headless" default="false"/>
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<arg name="gui" default="true"/>
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<arg name="ns" default="/"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<node name="sitl" pkg="px4" type="px4" output="screen"
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args="$(find px4) $(arg rcS)">
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</node>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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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="world_name" value="$(arg world)" />
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<arg name="debug" value="$(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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<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
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args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
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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 : --> |