fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 07:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros tests: add an interactive flag & disable the PX4 shell for ROS tests (#9672)

Browse Source
This commit is contained in:
Beat Küng
2018-06-14 12:37:47 -04:00
committed by Daniel Agar
parent 753ad0e0df
commit b66f0f36a5
8 changed files with 23 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/single_vehicle_spawn.launch
+5 -1
View File
@@ -15,11 +15,15 @@
<arg name="ID" default="1"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" default="14560"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate urdf vehicle model -->
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>
<param command="$(arg cmd)" name="rotors_description"/>
<!-- PX4 SITL -->
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)">
<arg unless="$(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) $(arg rcS) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(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)"/>