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added apm.launch file to iq_gnc project
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| <launch> | ||
| <!-- vim: set ft=xml noet : --> | ||
| <!-- Experimental launch script for APM based Drone --> | ||
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| <arg name="fcu_url" default="udp://127.0.0.1:14551@14555" /> | ||
| <arg name="gcs_url" default="" /> | ||
| <arg name="tgt_system" default="1" /> | ||
| <arg name="tgt_component" default="1" /> | ||
| <arg name="log_output" default="screen" /> | ||
| <arg name="respawn_mavros" default="true"/> | ||
| <arg name="mavros_ns" default="/"/> | ||
| <arg name="config_yaml" default="$(find mavros)/launch/apm_config.yaml" /> | ||
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| <include file="$(find iq_gnc)/launch/mavros_node.launch"> | ||
| <arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" /> | ||
| <arg name="config_yaml" value="$(arg config_yaml)" /> | ||
| <arg name="mavros_ns" value="$(arg mavros_ns)"/> | ||
| <arg name="fcu_url" value="$(arg fcu_url)" /> | ||
| <arg name="gcs_url" value="$(arg gcs_url)" /> | ||
| <arg name="respawn_mavros" value="$(arg respawn_mavros)"/> | ||
| <arg name="tgt_system" value="$(arg tgt_system)" /> | ||
| <arg name="tgt_component" value="$(arg tgt_component)" /> | ||
| <arg name="log_output" value="$(arg log_output)" /> | ||
| </include> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| <launch> | ||
| <!-- vim: set ft=xml noet : --> | ||
| <!-- base node launch file--> | ||
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| <arg name="fcu_url" /> | ||
| <arg name="gcs_url" /> | ||
| <arg name="mavros_ns" default=""/> | ||
| <arg name="tgt_system" /> | ||
| <arg name="tgt_component" /> | ||
| <arg name="pluginlists_yaml" /> | ||
| <arg name="config_yaml" /> | ||
| <arg name="log_output" default="screen" /> | ||
| <arg name="fcu_protocol" default="v2.0" /> | ||
| <arg name="respawn_mavros" default="false" /> | ||
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| <node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)" ns="$(arg mavros_ns)"> | ||
| <param name="fcu_url" value="$(arg fcu_url)" /> | ||
| <param name="gcs_url" value="$(arg gcs_url)" /> | ||
| <param name="target_system_id" value="$(arg tgt_system)" /> | ||
| <param name="target_component_id" value="$(arg tgt_component)" /> | ||
| <param name="fcu_protocol" value="$(arg fcu_protocol)" /> | ||
| <param name="/conn/timesync_rate" value="0.0"/> | ||
| <!-- load blacklist, config --> | ||
| <rosparam command="load" file="$(arg pluginlists_yaml)" /> | ||
| <rosparam command="load" file="$(arg config_yaml)" /> | ||
| </node> | ||
| </launch> |