forked from xtdrone/XTDrone
228 lines
10 KiB
XML
228 lines
10 KiB
XML
<?xml version="1.0"?>
|
|
<launch>
|
|
<!-- MAVROS posix SITL environment launch script -->
|
|
<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
|
|
<!-- vehicle model and world -->
|
|
<arg name="est" default="ekf2"/>
|
|
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/robocup.world"/>
|
|
<!-- gazebo configs -->
|
|
<arg name="gui" default="true"/>
|
|
<arg name="debug" default="false"/>
|
|
<arg name="verbose" default="false"/>
|
|
<arg name="paused" default="false"/>
|
|
<!-- Gazebo sim -->
|
|
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
|
<arg name="gui" value="$(arg gui)"/>
|
|
<arg name="world_name" value="$(arg world)"/>
|
|
<arg name="debug" value="$(arg debug)"/>
|
|
<arg name="verbose" value="$(arg verbose)"/>
|
|
<arg name="paused" value="$(arg paused)"/>
|
|
</include>
|
|
|
|
<arg name="obstaclestopper" default="false"/>
|
|
<group ns="ugv_0">
|
|
<param name="robot_description"
|
|
command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle1-3.xacro' roboname:='ugv_0'" />
|
|
<include file="$(find catvehicle)/launch/catvehicle.launch">
|
|
<arg name="robot_name" value="ugv_0"/>
|
|
<arg name="init_pose" value="-x -15 -y 93 -z 0 -R 0 -P 0 -Y -1.57"/>
|
|
<arg name="config_file" value="catvehicle_control.yaml"/>
|
|
<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
|
|
</include>
|
|
|
|
<!-- Uncomment this to get immediate motion from the car
|
|
<node name="openLoopCircle" pkg="safeopenloopcircle" type="safeopenloopcircle_node"/>
|
|
-->
|
|
</group>
|
|
|
|
<group ns="ugv_1">
|
|
<param name="robot_description"
|
|
command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle4-6.xacro' roboname:='ugv_1'" />
|
|
<include file="$(find catvehicle)/launch/catvehicle.launch">
|
|
<arg name="robot_name" value="ugv_1"/>
|
|
<arg name="init_pose" value="-x -15 -y 100 -z 0 -R 0 -P 0 -Y -1.57"/>
|
|
<arg name="config_file" value="catvehicle_control.yaml"/>
|
|
<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
|
|
</include>
|
|
|
|
<!-- Uncomment this to get immediate motion from the car
|
|
<node name="openLoopCircle" pkg="safeopenloopcircle" type="safeopenloopcircle_node"/>
|
|
-->
|
|
</group>
|
|
<!-- typhoon_h480_0 -->
|
|
<group ns="typhoon_h480_0">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="0"/>
|
|
<arg name="ID_in_group" value="0"/>
|
|
<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="-15"/>
|
|
<arg name="y" value="92.7"/>
|
|
<arg name="z" value="10"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="typhoon_h480"/>
|
|
<arg name="sdf" value="typhoon_h480"/>
|
|
<arg name="mavlink_udp_port" value="18570"/>
|
|
<arg name="mavlink_tcp_port" value="4560"/>
|
|
<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="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- typhoon_h480_1 -->
|
|
<group ns="typhoon_h480_1">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="1"/>
|
|
<arg name="ID_in_group" value="1"/>
|
|
<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="-15"/>
|
|
<arg name="y" value="93.6"/>
|
|
<arg name="z" value="10"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="typhoon_h480"/>
|
|
<arg name="sdf" value="typhoon_h480"/>
|
|
<arg name="mavlink_udp_port" value="18571"/>
|
|
<arg name="mavlink_tcp_port" value="4561"/>
|
|
<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="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- typhoon_h480_2 -->
|
|
<group ns="typhoon_h480_2">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="2"/>
|
|
<arg name="ID_in_group" value="2"/>
|
|
<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="-15"/>
|
|
<arg name="y" value="94.5"/>
|
|
<arg name="z" value="10"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="typhoon_h480"/>
|
|
<arg name="sdf" value="typhoon_h480"/>
|
|
<arg name="mavlink_udp_port" value="18572"/>
|
|
<arg name="mavlink_tcp_port" value="4562"/>
|
|
<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="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- typhoon_h480_3 -->
|
|
<group ns="typhoon_h480_3">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="3"/>
|
|
<arg name="ID_in_group" value="3"/>
|
|
<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="-15"/>
|
|
<arg name="y" value="99.7"/>
|
|
<arg name="z" value="10"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="typhoon_h480"/>
|
|
<arg name="sdf" value="typhoon_h480"/>
|
|
<arg name="mavlink_udp_port" value="18573"/>
|
|
<arg name="mavlink_tcp_port" value="4563"/>
|
|
<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="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- typhoon_h480_4 -->
|
|
<group ns="typhoon_h480_4">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="4"/>
|
|
<arg name="ID_in_group" value="4"/>
|
|
<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="-15"/>
|
|
<arg name="y" value="100.6"/>
|
|
<arg name="z" value="10"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="typhoon_h480"/>
|
|
<arg name="sdf" value="typhoon_h480"/>
|
|
<arg name="mavlink_udp_port" value="18574"/>
|
|
<arg name="mavlink_tcp_port" value="4564"/>
|
|
<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="$(eval 1 + arg('ID'))"/>
|
|
<arg name="tgt_component" value="1"/>
|
|
</include>
|
|
</group>
|
|
<!-- typhoon_h480_5 -->
|
|
<group ns="typhoon_h480_5">
|
|
<!-- MAVROS and vehicle configs -->
|
|
<arg name="ID" value="5"/>
|
|
<arg name="ID_in_group" value="5"/>
|
|
<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
|
|
<!-- PX4 SITL and vehicle spawn -->
|
|
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
|
<arg name="x" value="-15"/>
|
|
<arg name="y" value="101.5"/>
|
|
<arg name="z" value="10"/>
|
|
<arg name="R" value="0"/>
|
|
<arg name="P" value="0"/>
|
|
<arg name="Y" value="0"/>
|
|
<arg name="vehicle" value="typhoon_h480"/>
|
|
<arg name="sdf" value="typhoon_h480"/>
|
|
<arg name="mavlink_udp_port" value="18575"/>
|
|
<arg name="mavlink_tcp_port" value="4565"/>
|
|
<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 -->
|