From afa044e457fa8c8b311ee51745c7e6423411c316 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 28 Dec 2017 04:04:35 +0300
Subject: [PATCH] Run mavros_node explicitly instead of using px4.launch

---
 clever/launch/mavros.launch | 74 ++++++++++++++++++++-----------------
 1 file changed, 40 insertions(+), 34 deletions(-)

diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index c3091bcf..ae2a1c8c 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -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>