forked from xtdrone/XTDrone
602 lines
26 KiB
XML
602 lines
26 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- iris_0 -->
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<group ns="iris_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18570"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_1 -->
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<group ns="iris_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18571"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_2 -->
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<group ns="iris_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="ID_in_group" value="2"/>
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<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18572"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_3 -->
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<group ns="iris_3">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="3"/>
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<arg name="ID_in_group" value="3"/>
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<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="9"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18573"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_4 -->
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<group ns="iris_4">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="4"/>
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<arg name="ID_in_group" value="4"/>
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<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="12"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18574"/>
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<arg name="mavlink_tcp_port" value="4564"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_5 -->
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<group ns="iris_5">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="5"/>
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<arg name="ID_in_group" value="5"/>
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<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18575"/>
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<arg name="mavlink_tcp_port" value="4565"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_6 -->
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<group ns="iris_6">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="6"/>
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<arg name="ID_in_group" value="6"/>
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<arg name="fcu_url" default="udp://:24546@localhost:34586"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18576"/>
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<arg name="mavlink_tcp_port" value="4566"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_7 -->
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<group ns="iris_7">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="7"/>
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<arg name="ID_in_group" value="7"/>
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<arg name="fcu_url" default="udp://:24547@localhost:34587"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18577"/>
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<arg name="mavlink_tcp_port" value="4567"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_8 -->
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<group ns="iris_8">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="8"/>
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<arg name="ID_in_group" value="8"/>
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<arg name="fcu_url" default="udp://:24548@localhost:34588"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="9"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18578"/>
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<arg name="mavlink_tcp_port" value="4568"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_9 -->
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<group ns="iris_9">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="9"/>
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<arg name="ID_in_group" value="9"/>
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<arg name="fcu_url" default="udp://:24549@localhost:34589"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="12"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18579"/>
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<arg name="mavlink_tcp_port" value="4569"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_10 -->
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<group ns="iris_10">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="10"/>
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<arg name="ID_in_group" value="10"/>
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<arg name="fcu_url" default="udp://:24550@localhost:34590"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18580"/>
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<arg name="mavlink_tcp_port" value="4570"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_11 -->
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<group ns="iris_11">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="11"/>
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<arg name="ID_in_group" value="11"/>
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<arg name="fcu_url" default="udp://:24551@localhost:34591"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18581"/>
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<arg name="mavlink_tcp_port" value="4571"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_12 -->
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<group ns="iris_12">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="12"/>
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<arg name="ID_in_group" value="12"/>
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<arg name="fcu_url" default="udp://:24552@localhost:34592"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18582"/>
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<arg name="mavlink_tcp_port" value="4572"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_13 -->
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<group ns="iris_13">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="13"/>
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<arg name="ID_in_group" value="13"/>
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<arg name="fcu_url" default="udp://:24553@localhost:34593"/>
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<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="9"/>
|
|
<arg name="y" value="9"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18583"/>
|
|
<arg name="mavlink_tcp_port" value="4573"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- iris_14 -->
|
|
<group ns="iris_14">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="14"/>
|
|
<arg name="ID_in_group" value="14"/>
|
|
<arg name="fcu_url" default="udp://:24554@localhost:34594"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="12"/>
|
|
<arg name="y" value="9"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18584"/>
|
|
<arg name="mavlink_tcp_port" value="4574"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- iris_15 -->
|
|
<group ns="iris_15">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="15"/>
|
|
<arg name="ID_in_group" value="15"/>
|
|
<arg name="fcu_url" default="udp://:24555@localhost:34595"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="0"/>
|
|
<arg name="y" value="12"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18585"/>
|
|
<arg name="mavlink_tcp_port" value="4575"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- iris_16 -->
|
|
<group ns="iris_16">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="16"/>
|
|
<arg name="ID_in_group" value="16"/>
|
|
<arg name="fcu_url" default="udp://:24556@localhost:34596"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="3"/>
|
|
<arg name="y" value="12"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18586"/>
|
|
<arg name="mavlink_tcp_port" value="4576"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- iris_17 -->
|
|
<group ns="iris_17">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="17"/>
|
|
<arg name="ID_in_group" value="17"/>
|
|
<arg name="fcu_url" default="udp://:24557@localhost:34597"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="6"/>
|
|
<arg name="y" value="12"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18587"/>
|
|
<arg name="mavlink_tcp_port" value="4577"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- iris_18 -->
|
|
<group ns="iris_18">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="18"/>
|
|
<arg name="ID_in_group" value="18"/>
|
|
<arg name="fcu_url" default="udp://:24558@localhost:34598"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="9"/>
|
|
<arg name="y" value="12"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18588"/>
|
|
<arg name="mavlink_tcp_port" value="4578"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- iris_19 -->
|
|
<group ns="iris_19">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="19"/>
|
|
<arg name="ID_in_group" value="19"/>
|
|
<arg name="fcu_url" default="udp://:24559@localhost:34599"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="12"/>
|
|
<arg name="y" value="12"/>
|
|
<arg name="z" value="0"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="iris"/>
|
|
<arg name="sdf" value="iris_stereo_camera"/>
|
|
<arg name="mavlink_udp_port" value="18589"/>
|
|
<arg name="mavlink_tcp_port" value="4579"/>
|
|
<arg name="ID" value="$(arg ID)"/>
|
|
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
|
</include>
|
|
<!-- MAVROS -->
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
|
<arg name="gcs_url" value=""/>
|
|
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
</launch>
|
|
<!--the launch file is generated by XTDrone multi-vehicle generator.py --> |