forked from xtdrone/XTDrone
28 lines
1.4 KiB
XML
28 lines
1.4 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL environment launch script -->
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<!-- launchs PX4 SITL and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehcile model and config -->
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<arg name="sdf" default="plane"/>
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="plane"/>
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<arg name="ID" default="0"/>
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<arg name="ID_in_group" default="0"/>
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<arg name="mavlink_udp_port" default="14560"/>
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<arg name="mavlink_tcp_port" default="4560"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- generate sdf vehicle model -->
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<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/mavlink_tcp_port' -s '//plugin[@name="mavlink_interface"]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg sdf)/$(arg sdf).sdf"/>
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<param command="$(arg cmd)" name="model_description"/>
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<!-- spawn vehicle -->
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<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID_in_group) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
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</launch>
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