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19 lines
896 B
XML
19 lines
896 B
XML
<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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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="$(find px4)/launch/mavros_posix_sitl.launch">
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<arg name="gui" value="$(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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<!-- ROStest -->
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<test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="300.0"/>
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<test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
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</launch>
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