mirror of
https://github.com/CopterExpress/clover.git
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48 lines
1.7 KiB
XML
48 lines
1.7 KiB
XML
<launch>
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<arg name="fcu_conn" default="uart"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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<arg name="gcs_bridge" default="tcp"/>
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<arg name="viz" default="true"/>
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<include file="$(find mavros)/launch/px4.launch">
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<!-- UART connection -->
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<arg name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
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<!-- USB connection -->
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<arg name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
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<!-- sitl -->
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<arg name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
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<arg name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
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<arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
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</include>
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<!-- Copter visualization -->
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<include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
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<param name="mavros/local_position/frame_id" value="local_origin"/>
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<param name="mavros/local_position/tf/send" value="true"/>
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<param name="mavros/local_position/tf/frame_id" value="local_origin"/>
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<param name="mavros/local_position/tf/child_frame_id" value="fcu"/>
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<param name="mavros/global_position/tf/send" value="false"/>
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<rosparam param="mavros/plugin_blacklist">
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- safety_area
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- image_pub
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- vibration
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- distance_sensor
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- rangefinder
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- 3dr_radio
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- actuator_control
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- hil_controls
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- manual_control
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- vfr_hud
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- px4flow
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- vision_speed_estimate
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- fake_gps
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- cam_imu_sync
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- hil
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- adsb
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</rosparam>
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</launch>
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