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72 lines
3.4 KiB
Plaintext
72 lines
3.4 KiB
Plaintext
4 years ago
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<launch>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
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<param name="fcu_url" value="udp://127.0.0.1:14551@14555" />
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<!-- <param name="fcu_url" value="/dev/ttyUSB0" /> -->
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="1" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" />
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone2">
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<param name="fcu_url" value="udp://127.0.0.1:14561@14565" />
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="2" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" />
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone3">
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<param name="fcu_url" value="udp://127.0.0.1:14571@14575" />
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="3" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" /> -->
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone4">
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<param name="fcu_url" value="udp://127.0.0.1:14581@14585" />
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="4" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" /> -->
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone5">
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<param name="fcu_url" value="udp://127.0.0.1:14591@14595" />
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="5" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" /> -->
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone6">
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<param name="fcu_url" value="udp://127.0.0.1:14601@14605" />
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="6" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" /> -->
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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</launch>
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