From 0ae0f6a9b8d577bcb5037a592b0c96b1b5ecf018 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 16 Nov 2017 22:04:06 +0300
Subject: [PATCH] gcs_bridge clever launch file argument: tcp or udp

---
 clever/launch/clever.launch | 4 ++--
 clever/launch/mavros.launch | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index ac5921db..f57be01b 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -1,6 +1,6 @@
 <launch>
     <arg name="fcu_conn" default="uart"/>
-    <arg name="bridge" default="false"/>
+    <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="web_server" default="true"/>
     <arg name="web_video_server" default="true"/>
@@ -13,7 +13,7 @@
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
-        <arg name="bridge" value="$(arg bridge)"/>
+        <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
         <arg name="viz" value="$(arg viz)"/>
     </include>
 
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index 0e84e0ba..03cc583e 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -1,6 +1,6 @@
 <launch>
     <arg name="fcu_conn" default="uart"/>
-    <arg name="bridge" default="false"/>
+    <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
 
     <include file="$(find mavros)/launch/px4.launch">
@@ -10,8 +10,8 @@
         <!-- USB connection TODO: check-->
         <arg name="fcu_url" value="/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" if="$(eval fcu_conn == 'usb')"/>
 
-        <!-- TODO: fix -->
-        <arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(arg bridge)"/>
+        <arg name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
+        <arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
     </include>
 
     <!-- Copter visualization -->