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Common launch-file for Clever

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This commit is contained in:
Oleg Kalachev
2017-11-07 15:41:57 +03:00
parent 29dc58a6ca
commit 258ebe7684
1 changed files with 32 additions and 0 deletions
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clever/launch/clever.launch Normal file
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<launch>
<arg name="fcu_conn" default="uart"/>
<arg name="bridge" default="false"/>
<arg name="viz" default="false"/>
<arg name="web_server" default="true"/>
<arg name="web_video_server" default="true"/>
<arg name="rosbridge" default="true"/>
<arg name="camera" default="false"/>
<!-- mavros -->
<include file="$(find clever)/launch/mavros.launch">
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
<arg name="bridge" value="$(arg bridge)"/>
<arg name="viz" value="$(arg viz)"/>
</include>
<!-- web server -->
<include file="$(find clever)/launch/web_server.launch" if="$(arg web_server)"/>
<!-- web video server -->
<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)"/>
<!-- TODO: marker position estimator -->
<!-- TODO: simplified offboard control -->
<!--<node name="offboard" pkg="clever" type="offboard.py" output="screen"/>-->
<include file="$(find clever)/launch/bottom_camera.launch" if="$(arg camera)"/>
<!-- rosbridge -->
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>
</launch>