fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 03:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Improvements to SITL to make paths more flexible. (#5181)

Browse Source
This commit is contained in:
James Goppert
2016-08-05 06:23:59 -04:00
committed by GitHub
parent bc7178c538
commit 699b6a2cb3
72 changed files with 642 additions and 671 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/posix_sitl.launch
+16 -4
View File
@@ -1,19 +1,31 @@
<launch>
<!-- Posix SITL environment launch script -->
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
<env name="no_sim" value="1" />
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
<arg name="world_name" value="$(arg world)" />
</include>
<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
args="-sdf -file $(arg sdf) -model $(arg vehicle)"/>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->