fly316/PX4-Autopilot
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launch: add px4.launch script that only starts the px4 binary

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This provides a clean ROS interface for external projects which is
independent from the px4 CLI interface.

It can be used with:
```
	<include file="$(find px4)/launch/px4.launch">
	</include>
```
This commit is contained in:
Beat Küng 2018-08-16 10:06:07 +02:00
parent b14839ab2b
commit efbae51efe
1 changed files with 19 additions and 0 deletions
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launch/px4.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Posix SITL PX4 launch script -->
<!-- Launches Only PX4 SITL. This can be used by external projects -->
<!-- PX4 config arguments -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="0"/>
<arg name="interactive" default="true"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg unless="$(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 etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
</node>
</launch>