mirror of
https://github.com/CopterExpress/clover.git
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58 lines
2.5 KiB
XML
58 lines
2.5 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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<arg name="respawn" default="false"/>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="3" output="screen">
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<!-- UART connection -->
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<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
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<!-- USB connection -->
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<param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
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<!-- sitl -->
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<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
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<!-- gcs bridge -->
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<param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
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<param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
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<param name="gcs_url" value="udp-pb://192.168.11.1:14550@" if="$(eval gcs_bridge == 'udp-b')"/>
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<param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
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<param name="gcs_quiet_mode" value="true"/>
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<param name="conn/timeout" value="10"/>
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<!-- default px4 params -->
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<rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
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<!-- additional params -->
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<param name="local_position/frame_id" value="local_origin"/>
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<param name="local_position/tf/send" value="true"/>
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<param name="local_position/tf/frame_id" value="local_origin"/>
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<param name="local_position/tf/child_frame_id" value="fcu"/>
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<param name="global_position/tf/send" value="false"/>
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<param name="imu/frame_id" value="fcu"/>
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<rosparam param="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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- 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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</node>
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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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</launch>
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