From 16b2e1903a8827660ebef01236b9e666da7d5537 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 25 Jul 2018 15:37:17 +0300
Subject: [PATCH] Fix udp and udp-b bridge settings

---
 clever/launch/mavros.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index cb629c4f..77485526 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -18,8 +18,8 @@
             <!-- gcs bridge -->
             <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
             <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
-            <param name="gcs_url" value="udp-b://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
-            <param name="gcs_url" value="udp-pb://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
+            <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
+            <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
             <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
             <param name="gcs_quiet_mode" value="true"/>
             <param name="conn/timeout" value="10"/>