From c07c39bc438695101dc58d2fda2e14914e019ca4 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 28 Feb 2015 18:15:51 +0100
Subject: update ros launch files and nodes for update of rotors_simulator

---
 launch/ardrone.launch                                         |  7 +++++--
 launch/gazebo_ardrone_empty_world.launch                      |  9 ++++++---
 .../gazebo_ardrone_empty_world_offboard_attitudedemo.launch   | 11 +++++++----
 .../gazebo_ardrone_empty_world_offboard_positiondemo.launch   | 11 +++++++----
 launch/gazebo_ardrone_house_world.launch                      |  9 ++++++---
 launch/gazebo_iris_empty_world.launch                         |  9 ++++++---
 launch/gazebo_iris_house_world.launch                         |  7 +++++--
 launch/gazebo_iris_outdoor_world.launch                       |  7 +++++--
 launch/iris.launch                                            |  7 +++++--
 launch/multicopter.launch                                     |  3 ++-
 launch/multicopter_w.launch                                   |  7 +++++--
 launch/multicopter_x.launch                                   |  7 +++++--
 12 files changed, 64 insertions(+), 30 deletions(-)

(limited to 'launch')

diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index 3173e7cf1..809eab292 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter_x.launch" />
+<include file="$(find px4)/launch/multicopter_x.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="MPC_XY_P" type="double" value="1.0" />
 	<param name="MPC_XY_FF" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 22bfb0c79..122a27867 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="false"/>
-    <arg name="log_file" default="ardrone"/>
+    <arg name="ns" default="ardrone"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/ardrone_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/ardrone.launch" />
+    <include file="$(find px4)/launch/ardrone.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
index 717244abf..596496194 100644
--- a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
+++ b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
@@ -1,9 +1,12 @@
-
 <launch>
+<arg name="ns" default="ardrone"/>
 
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
+<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 <include file="$(find px4)/launch/mavros_sitl.launch" />
-
-<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+<group ns="$(arg ns)">
+	<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+</group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
index 9ff7f7d1f..46f427f93 100644
--- a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
+++ b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
@@ -1,9 +1,12 @@
-
 <launch>
+<arg name="ns" default="ardrone"/>
 
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
+<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 <include file="$(find px4)/launch/mavros_sitl.launch" />
-
-<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+<group ns="$(arg ns)">
+	<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+</group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch
index c636868eb..89f27c901 100644
--- a/launch/gazebo_ardrone_house_world.launch
+++ b/launch/gazebo_ardrone_house_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="ardrone"/>
+    <arg name="ns" default="ardrone"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/ardrone_house_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/ardrone_house_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/ardrone.launch" />
+    <include file="$(find px4)/launch/ardrone.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch
index 8a4c128b9..0e80208e6 100644
--- a/launch/gazebo_iris_empty_world.launch
+++ b/launch/gazebo_iris_empty_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/iris_empty_world_with_joy.launch">
+    <include file="$(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" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_house_world.launch b/launch/gazebo_iris_house_world.launch
index e4f9f6532..d0e824d4b 100644
--- a/launch/gazebo_iris_house_world.launch
+++ b/launch/gazebo_iris_house_world.launch
@@ -4,7 +4,8 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -13,6 +14,8 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch
index 22d55502d..e75e57b87 100644
--- a/launch/gazebo_iris_outdoor_world.launch
+++ b/launch/gazebo_iris_outdoor_world.launch
@@ -4,7 +4,8 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -13,6 +14,8 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/iris.launch b/launch/iris.launch
index be33cb85f..fb9c0e697 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter_w.launch" />
+<include file="$(find px4)/launch/multicopter_w.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="i" />
 	<param name="MPC_XY_P" type="double" value="1.0" />
 	<param name="MPC_XY_FF" type="double" value="0.0" />
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index bc0e37771..6882f2413 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -1,6 +1,7 @@
 <launch>
+<arg name="ns"/>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<node pkg="joy" name="joy_node" type="joy_node"/>
 	<node pkg="px4" name="manual_input" type="manual_input"/>
 	<node pkg="px4" name="commander" type="commander"/>
diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch
index f124082aa..66c30d186 100644
--- a/launch/multicopter_w.launch
+++ b/launch/multicopter_w.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="w" />
 </group>
 
diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch
index 6355b87be..c686eba39 100644
--- a/launch/multicopter_x.launch
+++ b/launch/multicopter_x.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="x" />
 </group>
 
-- 
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