mirror of
https://github.com/CopterExpress/clever-show.git
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44 lines
1.7 KiB
XML
44 lines
1.7 KiB
XML
<launch>
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<arg name="fcu_conn" default="usb"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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<arg name="fcu_sys_id" default="1"/>
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<arg name="gcs_bridge" default="tcp"/>
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<arg name="rangefinder_vl53l1x" default="true"/>
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<arg name="led" default="true"/>
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<!-- log formatting -->
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<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
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<!-- mavros -->
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<include file="$(find clover)/launch/mavros.launch">
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<arg name="fcu_conn" value="$(arg fcu_conn)"/>
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<arg name="fcu_ip" value="$(arg fcu_ip)"/>
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<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
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</include>
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<!-- main nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
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<param name="num_worker_threads" value="2"/>
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</node>
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<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
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<!-- simplified offboard control -->
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<node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
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<param name="reference_frames/body" value="map"/>
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<param name="reference_frames/base_link" value="map"/>
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<param name="reference_frames/navigate_target" value="map"/>
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</node>
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<!-- vl53l1x ToF rangefinder -->
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<node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
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<param name="frame_id" value="rangefinder"/>
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<param name="min_signal" value="0.4"/>
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<param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
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</node>
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<!-- led strip -->
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<include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
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</launch>
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