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27 lines
1.1 KiB
XML
27 lines
1.1 KiB
XML
<launch>
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="ns" default="iris"/>
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<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_posix_sitl_default">
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<env name="no_sim" value="1" />
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</node>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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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="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/iris.world" />
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</include>
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<include file="$(find px4)/launch/mavros_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
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<arg name="tgt_component" value="1"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
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</group>
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</launch>
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