mirror of
https://github.com/CopterExpress/clover.git
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100 lines
4.0 KiB
XML
100 lines
4.0 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="respawn" default="true"/>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="2" output="screen">
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<!-- UART connection -->
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<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(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="$(eval gcs_bridge == 'udp')"/>
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<param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
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<param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
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<param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
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<param name="gcs_quiet_mode" value="true"/>
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<param name="conn/timeout" value="8"/>
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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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<!-- enable setpoint_attitude/attitude -->
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<param name="setpoint_attitude/use_quaternion" value="true"/>
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<!-- rangefinders -->
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<rosparam>
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distance_sensor:
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rangefinder_0:
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id: 0
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frame_id: "rangefinder"
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orientation: PITCH_270
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field_of_view: 0.5
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rangefinder_1:
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id: 1
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frame_id: "rangefinder"
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orientation: PITCH_270
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field_of_view: 0.5
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rangefinder_2_sub:
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subscriber: true
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id: 2
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orientation: PITCH_270
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rangefinder_3_sub:
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subscriber: true
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id: 3
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orientation: PITCH_270
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</rosparam>
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<!-- additional params -->
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<param name="local_position/frame_id" value="map"/>
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<param name="local_position/tf/send" value="true"/>
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<param name="local_position/tf/frame_id" value="map"/>
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<param name="local_position/tf/child_frame_id" value="base_link"/>
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<param name="global_position/tf/send" value="false"/>
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<param name="imu/frame_id" value="base_link"/>
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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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- 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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- 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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- waypoint
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- obstacle_distance
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- setpoint_accel
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- trajectory
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- wind_estimation
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- home_position
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</rosparam>
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</node>
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<!-- Rangefinders frame -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
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<!-- Copter visualization -->
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<node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
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<remap to="mavros/local_position/pose" from="local_position"/>
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<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
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<param name="fixed_frame_id" value="map"/>
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<param name="child_frame_id" value="base_link"/>
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<param name="marker_scale" value="1"/>
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<param name="max_track_size" value="20"/>
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<param name="num_rotors" value="4"/>
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</node>
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</launch>
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