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SITL: move all models to unified rcS startup and remove old scripts

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This commit is contained in:
Beat Küng
2018-08-13 21:50:14 -04:00
committed by Daniel Agar
parent 5ebd0116de
commit 273988c124
51 changed files with 391 additions and 2442 deletions
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launch/single_vehicle_spawn.launch
+3 -2
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@@ -13,7 +13,8 @@
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg name="mavlink_udp_port" default="14560"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
@@ -23,7 +24,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s $(arg rcS) -i $(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>