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41 lines
1.8 KiB
41 lines
1.8 KiB
<launch>
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="rascal"/>
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<arg name="fcu_url" default="udp://:14540@127.0.0.1:14557"/>
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<arg name="gcs_url" default="" />
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<arg name="tgt_system" default="1" />
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<arg name="tgt_component" default="1" />
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<arg name="command_input" default="2" />
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<arg name="gazebo_simulation" default="true" />
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<arg name="visualization" default="true"/>
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<arg name="log_output" default="screen" />
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<arg name="fcu_protocol" default="v2.0" />
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<arg name="respawn_mavros" default="false" />
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<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
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<env name="PX4_ESTIMATOR" value="$(arg est)" />
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
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<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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<arg name="log_output" value="$(arg log_output)" />
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<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
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<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
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</include>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL -->
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<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
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<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
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<node name="sitl" pkg="px4" type="px4" output="screen"
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args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
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<node pkg="jsbsim_bridge" type="jsbsim_bridge_node" name="jsbsim_bridge" output="screen">
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</node>
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</launch>
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