px4-firmware/test/mavros_posix_tests_offboard...

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<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test offboard attitude control -->
<arg name="est" default="ekf2"/>
<arg name="gui" default="false"/>
<arg name="vehicle" default="iris"/>
<arg name="interactive" default="false"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="est" value="$(arg est)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->
<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
</launch>