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Added the launch file

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devbharat
2015-07-23 18:54:58 +02:00
parent 927056340d
commit 6a40c173fd
2 changed files with 27 additions and 1 deletions
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26
launch/gazebo_iris_mavros_posix_sitl.launch Normal file
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@@ -0,0 +1,26 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<arg name="mavlink_bridge_url" default="udp://localhost:14553@localhost:14560" />
<include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="$(arg ns)"/>
</include>
<include file="$(find mavros)/launch/mavlink_bridge.launch">
<arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>

2
posix-configs/SITL/init/rcS
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@@ -51,4 +51,4 @@ mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556