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26 lines
1.1 KiB
XML
26 lines
1.1 KiB
XML
<launch>
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<arg name="fcu_conn" default="uart"/>
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<arg name="bridge" default="false"/>
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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 TODO: check-->
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<arg name="fcu_url" value="/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" if="$(eval fcu_conn == 'usb')"/>
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<!-- TODO: fix -->
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<arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(arg bridge)"/>
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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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</launch>
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