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ROS launch: cleanup
* remove non-functional gazebo headless arg * remove unused namespace args * simplify mavros launch, use mavros's px4.launch instead * fix single_vehicle_spawn spelling * formatting with xmllint: remove empty lines, set intent to 4 spaces, add xml tag for editors, add comments to break up spections * remove old and deprecated launch files
This commit is contained in:
Anthony Lamping
committed by
Lorenz Meier
Lorenz Meier
parent
a637063965
commit
b1f08a9640
@@ -1,24 +1,19 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<arg name="ns" default="/"/>
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<arg name="headless" default="true"/>
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<!-- Test a mission -->
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<arg name="gui" default="false"/>
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<arg name="est" default="ekf2"/>
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<arg name="mission"/>
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<arg name="vehicle"/>
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<arg name="respawn_gazebo" default="true"/>
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<!-- MAVROS, PX4 SITL, Gazebo -->
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<include file="$(find px4)/launch/mavros_posix_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="est" value="$(arg est)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)" />
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</group>
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<!-- ROStest -->
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<test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)"/>
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</launch>
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@@ -1,23 +1,18 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<arg name="ns" default="/"/>
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<arg name="headless" default="true"/>
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<!-- Test offboard local posistion and attitude control with optical flow iris -->
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<arg name="gui" default="false"/>
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<arg name="est" default="ekf2"/>
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<arg name="respawn_gazebo" default="true"/>
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<!-- MAVROS, PX4 SITL, Gazebo -->
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<include file="$(find px4)/launch/mavros_posix_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="vehicle" value="iris_opt_flow"/>
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<arg name="est" value="$(arg est)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
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<test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
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</group>
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<!-- ROStest -->
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<test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
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<test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
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</launch>
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@@ -1,27 +1,22 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<arg name="ns" default="/"/>
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<arg name="headless" default="true"/>
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<!-- Test all missions with standard VTOL -->
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<arg name="gui" default="false"/>
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<arg name="est" default="ekf2"/>
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<arg name="respawn_gazebo" default="true"/>
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<!-- MAVROS, PX4 SITL, Gazebo -->
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<include file="$(find px4)/launch/mavros_posix_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="vehicle" value="standard_vtol"/>
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<arg name="est" value="$(arg est)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
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<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
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<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
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<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
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<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
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<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
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</group>
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<!-- ROStest -->
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<test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
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<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
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<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
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<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
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<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
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<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
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</launch>
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@@ -1,22 +1,17 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<arg name="ns" default="/"/>
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<arg name="headless" default="true"/>
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<!-- Test offboard attitude control with iris -->
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<arg name="gui" default="false"/>
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<arg name="est" default="ekf2"/>
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<arg name="respawn_gazebo" default="true"/>
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<!-- MAVROS, PX4 SITL, Gazebo -->
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<include file="$(find px4)/launch/mavros_posix_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="vehicle" value="iris"/>
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<arg name="est" value="$(arg est)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
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</group>
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<!-- ROStest -->
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
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</launch>
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@@ -1,22 +1,17 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<arg name="ns" default="/"/>
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<arg name="headless" default="true"/>
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<!-- Test offboard local posistion control with iris -->
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<arg name="gui" default="false"/>
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<arg name="est" default="ekf2"/>
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<arg name="respawn_gazebo" default="true"/>
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<!-- MAVROS, PX4 SITL, Gazebo -->
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<include file="$(find px4)/launch/mavros_posix_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="vehicle" value="iris"/>
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<arg name="est" value="$(arg est)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
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</group>
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<!-- ROStest -->
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
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</launch>
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