oscillation_ctrl/launch/cortex_bridge.launch

<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
  <arg name="mav_name" default="spiri"/>
  <arg name="command_input" default="1" />
  <arg name="log_output" default="screen" />
  <arg name="fcu_protocol" default="v2.0" />
  <arg name="respawn_mavros" default="false" />
  <arg name="gazebo_gui" default="false" />
  <arg name="fcu_url" default="udp://:14549@192.168.1.91:14554"/>
  <arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />

	<node
		pkg="oscillation_ctrl"
		type="Mocap_Bridge.py"
		name="localize_node"
		launch-prefix="xterm -e"
	/>

	<!-- Cortex bridge launch  -->
	<include file="$(find cortex_bridge)/launch/cortex_bridge.launch"/>

	<!-- MAVROS launch  -->
	<include file="$(find mavros)/launch/px4.launch">
		<arg name="pluginlists_yaml" value="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" />
		<arg name="config_yaml" value="$(find oscillation_ctrl)/config/px4_config.yaml" />
  		<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
		<!--arg name="fcu_url" value="udp://:14549@192.168.1.91:14554" />
		<arg name="gcs_url" value="udp-b://127.0.0.1:14555@14550" /-->
		<arg name="fcu_url" value="$(arg fcu_url)" />
		<arg name="gcs_url" value="$(arg gcs_url)" />
	</include>
</launch>