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Launch-file for mavros and copter visualization node

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This commit is contained in:
Oleg Kalachev
2017-11-07 15:37:54 +03:00
parent 6d1f215de2
commit 13a6efc4db
2 changed files with 37 additions and 0 deletions
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12
clever/launch/copter_visualization.launch Normal file
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<launch>
<remap to="mavros/local_position/pose" from="local_position"/>
<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
<node name="copter_visualization" pkg="mavros_extras" type="copter_visualization"/>
<param name="copter_visualization/fixed_frame_id" value="local_origin"/>
<param name="copter_visualization/child_frame_id" value="fcu"/>
<param name="copter_visualization/marker_scale" value="1"/>
<param name="copter_visualization/max_track_size" value="500"/>
<param name="copter_visualization/num_rotors" value="4"/>
</launch>

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clever/launch/mavros.launch Normal file
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<launch>
<arg name="fcu_conn" default="uart"/>
<arg name="bridge" default="false"/>
<arg name="viz" default="true"/>
<include file="$(find mavros)/launch/px4.launch">
<!-- UART connection -->
<arg name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
<!-- 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)"/>
</include>
<!-- Copter visualization -->
<include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
<param name="mavros/local_position/frame_id" value="local_origin"/>
<param name="mavros/local_position/tf/send" value="true"/>
<param name="mavros/local_position/tf/frame_id" value="local_origin"/>
<param name="mavros/local_position/tf/child_frame_id" value="fcu"/>
<param name="mavros/global_position/tf/send" value="false"/>
</launch>