mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-27 13:39:33 +00:00
30 lines
1.3 KiB
XML
30 lines
1.3 KiB
XML
<launch>
|
|
<arg name="fcu_conn" default="uart"/>
|
|
<arg name="fcu_ip" default="127.0.0.1"/>
|
|
<arg name="gcs_bridge" default="tcp"/>
|
|
<arg name="viz" default="true"/>
|
|
|
|
<include file="$(find mavros)/launch/px4.launch">
|
|
<!-- UART connection -->
|
|
<arg name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
|
|
|
|
<!-- USB connection TODO: check-->
|
|
<arg name="fcu_url" value="/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" if="$(eval fcu_conn == 'usb')"/>
|
|
|
|
<!-- sitl -->
|
|
<arg name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
|
|
|
|
<arg name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
|
|
<arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
|
|
</include>
|
|
|
|
<!-- Copter visualization -->
|
|
<include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
|
|
|
|
<param name="mavros/local_position/frame_id" value="local_origin"/>
|
|
<param name="mavros/local_position/tf/send" value="true"/>
|
|
<param name="mavros/local_position/tf/frame_id" value="local_origin"/>
|
|
<param name="mavros/local_position/tf/child_frame_id" value="fcu"/>
|
|
<param name="mavros/global_position/tf/send" value="false"/>
|
|
</launch>
|