From a10950df104b4f00bb3415711a3b739fac3c0cc6 Mon Sep 17 00:00:00 2001
From: Xuan0319 <new310049@gmail.com>
Date: Wed, 8 Feb 2023 22:00:36 +0800
Subject: [PATCH] Fixed leader drone not responding in land mode

---
 class_model/launch/mavlink.launch  | 12 ++++++++++++
 class_model/launch/mqtt.launch     | 18 ++++++++++++++++++
 class_model/launch/mqtt_old.launch | 18 ++++++++++++++++++
 class_model/launch/one.launch      | 11 +++++++++++
 4 files changed, 59 insertions(+)
 create mode 100644 class_model/launch/mavlink.launch
 create mode 100755 class_model/launch/mqtt.launch
 create mode 100755 class_model/launch/mqtt_old.launch
 create mode 100644 class_model/launch/one.launch

diff --git a/class_model/launch/mavlink.launch b/class_model/launch/mavlink.launch
new file mode 100644
index 0000000..7f71bb3
--- /dev/null
+++ b/class_model/launch/mavlink.launch
@@ -0,0 +1,12 @@
+<launch>
+	<!-- vim: set ft=xml noet : -->
+	<!-- base node launch file-->
+
+	<arg name="fcu_url" default="/dev/ttyACM0:115200" />
+	<arg name="tgt_system" default="2"/>	
+
+	<node pkg="mavros" type="mavros_node" name="mavros" >
+		<param name="fcu_url" value="$(arg fcu_url)" />
+		<param name="target_system_id" value="$(arg tgt_system)" />
+	</node>
+</launch>
diff --git a/class_model/launch/mqtt.launch b/class_model/launch/mqtt.launch
new file mode 100755
index 0000000..029ad84
--- /dev/null
+++ b/class_model/launch/mqtt.launch
@@ -0,0 +1,18 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="mqttPubMain.py" name="mqttPubMain" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="mqttSubMain.py" name="mqttSubMain" output="screen">
+		</node>
+	</group>
+	<group>
+		
+		<node pkg="class_model" type="command.py" name="command" output="screen">
+		</node>
+	</group>
+	
+</launch>
diff --git a/class_model/launch/mqtt_old.launch b/class_model/launch/mqtt_old.launch
new file mode 100755
index 0000000..f078a75
--- /dev/null
+++ b/class_model/launch/mqtt_old.launch
@@ -0,0 +1,18 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="local_mqtt_pub_data_to_ros.py" name="mqttPubMain" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="local_mqtt_sub_data_from_ros.py" name="mqttSubMain" output="screen">
+		</node>
+	</group>
+	<group>
+		
+		<node pkg="class_model" type="command.py" name="command" output="screen">
+		</node>
+	</group>
+	
+</launch>
diff --git a/class_model/launch/one.launch b/class_model/launch/one.launch
new file mode 100644
index 0000000..bd03748
--- /dev/null
+++ b/class_model/launch/one.launch
@@ -0,0 +1,11 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="main" name="leader" output="screen">
+			<!-- <param name="namespace" value="/drone1"/> -->
+			<param name="droneID" value="1"/>
+			<param name="use_sim_time"  value="true" />
+		</node>
+	</group>
+
+	
+</launch>