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Run mavros_node explicitly instead of using px4.launch

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This commit is contained in:
Oleg Kalachev
2017-12-28 04:04:35 +03:00
parent 69f8b6e545
commit afa044e457
1 changed files with 40 additions and 34 deletions
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74
clever/launch/mavros.launch
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@@ -4,44 +4,50 @@
<arg name="gcs_bridge" default="tcp"/>
<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')"/>
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen">
<!-- UART connection -->
<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
<!-- USB connection -->
<arg name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
<!-- USB connection -->
<param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
<!-- sitl -->
<arg name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
<!-- sitl -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
<arg name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
<arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
</include>
<!-- gcs bridge -->
<param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
<param name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
<param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
<!-- default px4 params -->
<rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
<!-- additional params -->
<param name="local_position/frame_id" value="local_origin"/>
<param name="local_position/tf/send" value="true"/>
<param name="local_position/tf/frame_id" value="local_origin"/>
<param name="local_position/tf/child_frame_id" value="fcu"/>
<param name="global_position/tf/send" value="false"/>
<rosparam param="plugin_blacklist">
- safety_area
- image_pub
- vibration
- distance_sensor
- rangefinder
- 3dr_radio
- actuator_control
- hil_controls
- manual_control
- vfr_hud
- px4flow
- vision_speed_estimate
- fake_gps
- cam_imu_sync
- hil
- adsb
</rosparam>
</node>
<!-- Copter visualization -->
<include file="$(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"/>
<rosparam param="mavros/plugin_blacklist">
- safety_area
- image_pub
- vibration
- distance_sensor
- rangefinder
- 3dr_radio
- actuator_control
- hil_controls
- manual_control
- vfr_hud
- px4flow
- vision_speed_estimate
- fake_gps
- cam_imu_sync
- hil
- adsb
</rosparam>
</launch>