<?xml version="1.0" encoding="UTF-8"?> <launch> <!-- MAVROS posix SITL environment launch script --> <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle --> <!-- vehicle pose --> <arg name="x" default="0"/> <arg name="y" default="0"/> <arg name="z" default="0"/> <arg name="R" default="0"/> <arg name="P" default="0"/> <arg name="Y" default="0"/> <!-- vehicle model and world --> <arg name="est" default="ekf2"/> <arg name="vehicle" default="spiri"/> <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/> <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> <!-- gazebo configs --> <arg name="gui" default="false"/> <arg name="debug" default="false"/> <arg name="verbose" default="false"/> <arg name="paused" default="false"/> <arg name="respawn_gazebo" default="false"/> <!-- MAVROS configs --> <arg name="fcu_url" default="udp://:14540@localhost:14557"/> <arg name="respawn_mavros" default="false"/> <!-- PX4 configs --> <arg name="interactive" default="true"/> <!-- PX4 SITL and Gazebo --> <include file="$(find px4)/launch/posix_sitl.launch"> <arg name="x" value="$(arg x)"/> <arg name="y" value="$(arg y)"/> <arg name="z" value="$(arg z)"/> <arg name="R" value="$(arg R)"/> <arg name="P" value="$(arg P)"/> <arg name="Y" value="$(arg Y)"/> <arg name="world" value="$(arg world)"/> <arg name="vehicle" value="$(arg vehicle)"/> <arg name="sdf" value="$(arg sdf)"/> <arg name="gui" value="$(arg gui)"/> <arg name="interactive" value="$(arg interactive)"/> <arg name="debug" value="$(arg debug)"/> <arg name="verbose" value="$(arg verbose)"/> <arg name="paused" value="$(arg paused)"/> <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/> </include> <!-- MAVROS --> <include file="$(find mavros)/launch/px4.launch"> <!-- GCS link is provided by SITL --> <arg name="gcs_url" value=""/> <arg name="fcu_url" value="$(arg fcu_url)"/> <arg name="respawn_mavros" value="$(arg respawn_mavros)"/> </include> </launch>