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clover.launch: wait for px4fmu device until starting mavros

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This commit is contained in:
Oleg Kalachev
2021-04-23 22:46:48 +03:00
parent cb88537ddc
commit e0ca1272bb
1 changed files with 4 additions and 2 deletions
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6
clover/launch/mavros.launch
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@@ -6,13 +6,15 @@
<arg name="viz" default="true"/>
<arg name="respawn" default="true"/>
<arg name="distance_sensor_remap" default="rangefinder/range"/>
<arg name="usb_device" default="/dev/px4fmu"/>
<arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
<node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
<!-- UART connection -->
<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
<!-- USB connection -->
<param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
<param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
<!-- sitl before PX4 1.9.0 -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>