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- modified apps/ios/cleverrc/telemetry.js - modified clever/launch/clever.launch - modified clever/src/rc.cpp Auto commit by GitBook Editor
63 lines
2.6 KiB
XML
63 lines
2.6 KiB
XML
<launch>
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<arg name="fcu_conn" default="usb"/>
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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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<arg name="web_server" default="false"/>
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<arg name="web_video_server" default="true"/>
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<arg name="rosbridge" default="true"/>
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<arg name="main_camera" default="true"/>
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<arg name="aruco" default="false"/>
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<arg name="rc" value="true"/>
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<arg name="fpv_camera" default="false"/>
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<arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
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<arg name="arduino" default="false"/>
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<!-- mavros -->
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<include file="$(find clever)/launch/mavros.launch">
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<arg name="fcu_conn" value="$(arg fcu_conn)"/>
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<arg name="fcu_ip" value="$(arg fcu_ip)"/>
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<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
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<arg name="viz" value="$(arg viz)"/>
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</include>
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<!-- web server -->
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<include file="$(find clever)/launch/web_server.launch" if="$(arg web_server)"/>
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<!-- web video server -->
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<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
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<!-- aruco vpe -->
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<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
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<!-- main nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
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<param name="num_worker_threads" value="2"/>
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</node>
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<node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
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<!-- fcu_horiz frame -->
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<node pkg="nodelet" type="nodelet" name="fcu_horiz" args="standalone clever/fcu_horiz" output="screen" clear_params="true"/>
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<!-- simplified offboard control -->
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<node name="simple_offboard" pkg="clever" type="simple_offboard.py" output="screen"/>
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<!-- main camera -->
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<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
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<!-- rosbridge -->
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
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<!-- rc backend -->
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<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
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<!-- FPV video streaming -->
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<include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">
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<arg name="device" value="$(arg fpv_camera_device)"/>
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</include>
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<!-- Arduino bridge -->
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<include file="$(find clever)/launch/arduino.launch" if="$(arg arduino)"/>
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</launch>
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