54 lines
2.4 KiB
XML
54 lines
2.4 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="vehicle" default="iris"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/grasping.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(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="$(arg paused)"/>
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</include>
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<!-- UAV0 -->
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<group ns="iris_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_with_arm_spawn.launch">
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<arg name="x" value="-0.1"/>
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<arg name="y" value="0"/>
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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="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="18570"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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</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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<include file="$(find le_arm)/launch/controller_utils.launch"/>
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<rosparam file="$(find le_arm)/controller/le_arm_controller.yaml" command="load"/>
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<node name="le_arm_controller_spawner" pkg="controller_manager" type="spawner" args="le_arm_controller" />
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<rosparam file="$(find le_arm)/controller/gripper_controller.yaml" command="load"/>
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<node name="gripper_controller_spawner" pkg="controller_manager" type="spawner" args="gripper_controller" />
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</launch>
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