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48 lines
1.9 KiB
XML
48 lines
1.9 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="true"/>
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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="bottom_camera" default="false"/>
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<arg name="aruco" default="false"/>
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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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<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
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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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<!-- bottom camera -->
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<include file="$(find clever)/launch/bottom_camera.launch" if="$(arg bottom_camera)"/>
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<!-- rosbridge -->
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>
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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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