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ROS launch: cleanup

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* 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
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26
launch/single_vehicle_spawn.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Posix SITL environment launch script -->
<!-- launchs PX4 SITL 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"/>
<!-- vehcile model and config -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<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"/>
<!-- 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) $(arg rcS)">
</node>
<!-- spawn vehicle -->
<node name="$(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)"/>
</launch>