Xuan0319/DroneControl
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Xuan0319
2022-11-14 20:31:08 +08:00
commit 62bea117ee
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class_model/launch/apm.launch
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<launch>
<group>
<node pkg="class_model" type="main" name="leader" output="screen" ns="/drone1">
<param name="namespace" value="/drone1"/>
<param name="droneID" value="1"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower1" output="screen" ns="/drone2">
<param name="namespace" value="/drone2"/>
<param name="droneID" value="2"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower2" output="screen" ns="/drone3">
<param name="namespace" value="/drone3"/>
<param name="droneID" value="3"/>
<param name="use_sim_time" value="true" />
</node>
</group>
</launch>
class_model/launch/apm_sitl.launch
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<launch>
<!-- vim: set ft=xml noet : -->
<!-- Experimental launch script for APM based Drone -->
<arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<arg name="respawn_mavros" default="true"/>
<arg name="mavros_ns" default="/"/>
<arg name="drone_ID" default="1" />
<arg name="config_yaml" default="$(find mavros)/launch/apm_config.yaml" />
<include file="$(find iq_sim)/launch/mavros_node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="$(arg config_yaml)" />
<arg name="mavros_ns" value="$(arg mavros_ns)"/>
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
</include>
</launch>
class_model/launch/five.launch
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<launch>
<group>
<node pkg="class_model" type="main" name="leader" output="screen" ns="/drone1">
<param name="namespace" value="/drone1"/>
<param name="droneID" value="1"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower1" output="screen" ns="/drone2">
<param name="namespace" value="/drone2"/>
<param name="droneID" value="2"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower2" output="screen" ns="/drone3">
<param name="namespace" value="/drone3"/>
<param name="droneID" value="3"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower3" output="screen" ns="/drone4">
<param name="namespace" value="/drone4"/>
<param name="droneID" value="4"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower4" output="screen" ns="/drone5">
<param name="namespace" value="/drone5"/>
<param name="droneID" value="5"/>
<param name="use_sim_time" value="true" />
</node>
</group>
</launch>
class_model/launch/six.launch
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<launch>
<group>
<node pkg="class_model" type="main" name="leader" output="screen" ns="/drone1">
<param name="namespace" value="/drone1"/>
<param name="droneID" value="1"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower1" output="screen" ns="/drone2">
<param name="namespace" value="/drone2"/>
<param name="droneID" value="2"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower2" output="screen" ns="/drone3">
<param name="namespace" value="/drone3"/>
<param name="droneID" value="3"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower3" output="screen" ns="/drone4">
<param name="namespace" value="/drone4"/>
<param name="droneID" value="4"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower4" output="screen" ns="/drone5">
<param name="namespace" value="/drone5"/>
<param name="droneID" value="5"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower5" output="screen" ns="/drone6">
<param name="namespace" value="/drone6"/>
<param name="droneID" value="6"/>
<param name="use_sim_time" value="true" />
</node>
</group>
</launch>
class_model/launch/test.launch
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<launch>
<group>
<node pkg="class_model" type="main" name="leader" output="screen" ns="/drone1">
<param name="namespace" value="/drone1"/>
<param name="droneID" value="1"/>
<param name="use_sim_time" value="true" />
</node>
</group>
<group>
<node pkg="class_model" type="main" name="follower1" output="screen" ns="/drone2">
<param name="namespace" value="/drone2"/>
<param name="droneID" value="2"/>
<param name="use_sim_time" value="true" />
</node>
</group>
</launch>