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34 lines
1.3 KiB
XML
34 lines
1.3 KiB
XML
<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<arg name="vehicle" default="iris"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
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<arg name="headless" default="false"/>
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<arg name="gui" default="true"/>
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<arg name="ns" default="/"/>
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<arg name="build" default="posix_sitl_default"/>
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="rcS" value="$(arg rcS)"/>
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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="ns" value="$(arg ns)"/>
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<arg name="build" value="$(arg build)"/>
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</include>
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<include file="$(find px4)/launch/mavros.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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</include>
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</launch>
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
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