From 13a6efc4db996d93ef63faee67ddf5361bd389c7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 7 Nov 2017 15:37:54 +0300
Subject: [PATCH] Launch-file for mavros and copter visualization node

---
 clever/launch/copter_visualization.launch | 12 +++++++++++
 clever/launch/mavros.launch               | 25 +++++++++++++++++++++++
 2 files changed, 37 insertions(+)
 create mode 100644 clever/launch/copter_visualization.launch
 create mode 100644 clever/launch/mavros.launch

diff --git a/clever/launch/copter_visualization.launch b/clever/launch/copter_visualization.launch
new file mode 100644
index 00000000..24006baf
--- /dev/null
+++ b/clever/launch/copter_visualization.launch
@@ -0,0 +1,12 @@
+<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>
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
new file mode 100644
index 00000000..0e84e0ba
--- /dev/null
+++ b/clever/launch/mavros.launch
@@ -0,0 +1,25 @@
+<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>