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- changes to allow for multi-uav support

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This commit is contained in:
Tarek Taha
2015-09-16 16:56:52 +04:00
parent 612e3b49ef
commit 24feea6346
8 changed files with 74 additions and 5 deletions
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launch/multi_uav.launch
+55
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<?xml version="1.0"?>
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="debug" default="false"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<group ns="iris">
<include file="$(find rotors_gazebo)/launch/spawn_iris.launch">
<arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
<arg name="x" value="1"/>
<arg name="y" value="0"/>
</include>
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)" />
</include>
</group>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="iris"/>
</include>
<group ns="ardrone">
<include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
<arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
<arg name="x" value="-1"/>
<arg name="y" value="0"/>
</include>
<arg name="fcu_url" default="udp://localhost:14570@localhost:14575" />
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)" />
</include>
</group>
<include file="$(find px4)/launch/ardrone.launch">
<arg name="ns" value="ardrone"/>
<arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/>
</include>
</launch>