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‘udp’ fcu_conn in mavros launch-file

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This commit is contained in:
Oleg Kalachev
2017-11-17 05:23:02 +03:00
parent 76e020d162
commit dbaa8bdf88
2 changed files with 6 additions and 0 deletions
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2
clever/launch/clever.launch
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@@ -1,5 +1,6 @@
<launch>
<arg name="fcu_conn" default="uart"/>
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="gcs_bridge" default="tcp"/>
<arg name="viz" default="true"/>
<arg name="web_server" default="true"/>
@@ -13,6 +14,7 @@
<!-- mavros -->
<include file="$(find clever)/launch/mavros.launch">
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
<arg name="viz" value="$(arg viz)"/>
</include>

4
clever/launch/mavros.launch
View File

@@ -1,5 +1,6 @@
<launch>
<arg name="fcu_conn" default="uart"/>
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="gcs_bridge" default="tcp"/>
<arg name="viz" default="true"/>
@@ -10,6 +11,9 @@
<!-- USB connection TODO: check-->
<arg name="fcu_url" value="/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" if="$(eval fcu_conn == 'usb')"/>
<!-- sitl -->
<arg name="fcu_url" value="udp://@$(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>