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b9395e3d18
* Add ArUco map model * Add ArUco map into the new .world file and set this world as the default.
53 lines
2.7 KiB
XML
53 lines
2.7 KiB
XML
<launch>
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<arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
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<arg name="mav_id" default="0"/>
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<arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
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<arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
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<arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
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<arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
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<arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
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<arg name="gps" default="false"/> <!--Simulated GPS module -->
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<arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
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<!-- Gazebo instance -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
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<!-- Workaround for crashes in VMware -->
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<env name="SVGA_VGPU10" value="0"/>
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<arg name="gui" value="true"/>
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<arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
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<arg name="verbose" value="true"/>
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</include>
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<!-- PX4 instance -->
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<node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
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<env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
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<env name="PX4_ESTIMATOR" value="$(arg est)"/>
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</node>
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<!-- Clover model -->
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<include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
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<arg name="main_camera" value="$(arg main_camera)"/>
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<arg name="rangefinder" value="$(arg rangefinder)"/>
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<arg name="led" value="$(arg led)"/>
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<arg name="gps" value="$(arg gps)"/>
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<arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
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</include>
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<node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
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<param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
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<!-- Clover services -->
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<include file="$(find clover)/launch/clover.launch">
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<arg name="simulator" value="true"/>
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<arg name="fcu_conn" value="sitl"/>
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<arg name="fcu_ip" value="127.0.0.1"/>
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<arg name="gcs_bridge" value=""/>
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<arg name="rc" default="false"/>
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<arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
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<arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
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<arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
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<arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
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</include>
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</launch>
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