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| author | Andreas Antener <antener_a@gmx.ch> | 2015-02-27 18:01:16 +0100 |
|---|---|---|
| committer | Andreas Antener <antener_a@gmx.ch> | 2015-02-28 20:03:49 +0100 |
| commit | c4b938fee625d1c9aabfd5c75d63635384f5d52f (patch) | |
| tree | 063bfb8ca220686e586f823804ab121f86ef7fef | |
| parent | 5d8516b356a58c865de2336c211e1974f2f453e2 (diff) | |
| download | px4-firmware-c4b938fee625d1c9aabfd5c75d63635384f5d52f.tar.gz px4-firmware-c4b938fee625d1c9aabfd5c75d63635384f5d52f.tar.bz2 px4-firmware-c4b938fee625d1c9aabfd5c75d63635384f5d52f.zip | |
moved mavros to root node
| -rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_posctl_test.py | 10 | ||||
| -rw-r--r-- | launch/mavros_sitl.launch | 28 |
2 files changed, 18 insertions, 20 deletions
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index 533d9ad3c..14c7d6c19 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -55,11 +55,11 @@ class OffboardPosctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) - rospy.wait_for_service('px4_multicopter/mavros/cmd/arming', 30) - rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) - rospy.Subscriber("px4_multicopter/mavros/position/local", PoseStamped, self.position_callback) - self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10) - self.cmdArm = rospy.ServiceProxy("px4_multicopter/mavros/cmd/arming", CommandBool) + rospy.wait_for_service('mavros/cmd/arming', 30) + rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) + rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback) + self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10) + self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) self.rate = rospy.Rate(10) # 10hz self.rateSec = rospy.Rate(1) self.hasPos = False diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch index 582fdaa7d..40010a273 100644 --- a/launch/mavros_sitl.launch +++ b/launch/mavros_sitl.launch @@ -2,22 +2,20 @@ <!-- vim: set ft=xml noet : --> <!-- example launch script for PX4 based FCU's --> - <group ns="px4_multicopter"> - <arg name="fcu_url" default="udp://localhost:14560@localhost:14565" /> - <arg name="gcs_url" default="" /> - <arg name="tgt_system" default="1" /> - <arg name="tgt_component" default="50" /> + <arg name="fcu_url" default="udp://localhost:14560@localhost:14565" /> + <arg name="gcs_url" default="" /> + <arg name="tgt_system" default="1" /> + <arg name="tgt_component" default="50" /> - <param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" /> + <param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" /> - <include file="$(find mavros)/launch/node.launch"> - <arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" /> - <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" /> + <include file="$(find mavros)/launch/node.launch"> + <arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" /> + <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" /> - <arg name="fcu_url" value="$(arg fcu_url)" /> - <arg name="gcs_url" value="$(arg gcs_url)" /> - <arg name="tgt_system" value="$(arg tgt_system)" /> - <arg name="tgt_component" value="$(arg tgt_component)" /> - </include> - </group> + <arg name="fcu_url" value="$(arg fcu_url)" /> + <arg name="gcs_url" value="$(arg gcs_url)" /> + <arg name="tgt_system" value="$(arg tgt_system)" /> + <arg name="tgt_component" value="$(arg tgt_component)" /> + </include> </launch> |