yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

ROS launch: cleanup

Browse Source 
* 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
2018-02-09 13:40:38 -05:00
committed by Lorenz Meier
parent a637063965
commit b1f08a9640
27 changed files with 104 additions and 595 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
launch/mavros_posix_sitl.launch
View File

@@ -1,34 +1,29 @@
<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<arg name="headless" default="false"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
<!-- MAVROS connection -->
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
@@ -40,22 +35,16 @@
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="rcS" value="$(arg rcS)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<include file="$(find px4)/launch/mavros.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
<arg name="config_yaml" value="$(arg config_yaml)" />
</include>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->