diff options
-rw-r--r-- | launch/gazebo_ardrone_empty_world_offboard_demo.launch | 10 | ||||
-rw-r--r-- | launch/mavros_sitl.launch | 26 |
2 files changed, 24 insertions, 12 deletions
diff --git a/launch/gazebo_ardrone_empty_world_offboard_demo.launch b/launch/gazebo_ardrone_empty_world_offboard_demo.launch new file mode 100644 index 000000000..ce2386920 --- /dev/null +++ b/launch/gazebo_ardrone_empty_world_offboard_demo.launch @@ -0,0 +1,10 @@ + +<launch> + +<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" /> +<include file="$(find px4)/launch/mavros_sitl.launch" /> +<group ns="px4_multicopter"> + <node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/> +</group> + +</launch> diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch index 17b6a7035..29f7dd857 100644 --- a/launch/mavros_sitl.launch +++ b/launch/mavros_sitl.launch @@ -2,18 +2,20 @@ <!-- vim: set ft=xml noet : --> <!-- example launch script for PX4 based FCU's --> - <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" /> + <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" /> - <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> + <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> </launch> |