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SITL Gazebo classic make airframes simulator specific

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This commit is contained in:
Daniel Agar
2023-01-04 21:12:08 -05:00
parent 97c8a60d67
commit 618288cca9
65 changed files with 866 additions and 252 deletions
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launch/posix_sitl.launch
+1 -1
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@@ -14,7 +14,7 @@
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<!-- gazebo configs -->
<arg name="gui" default="true"/>
launch/px4.launch
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@@ -9,7 +9,7 @@
<arg name="ID" default="0"/>
<arg name="interactive" default="true"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
launch/single_vehicle_spawn.launch
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@@ -13,7 +13,7 @@
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<arg name="gst_udp_port" default="5600"/>
launch/single_vehicle_spawn_sdf.launch
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@@ -13,7 +13,7 @@
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="plane"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<!-- PX4 configs -->