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# Common configuration for APM2 autopilot
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#
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# node:
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startup_px4_usb_quirk: false
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# --- system plugins ---
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# sys_status & sys_time connection options
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conn:
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heartbeat_rate: 1.0 # send hertbeat rate in Hertz
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heartbeat_mav_type: "ONBOARD_CONTROLLER"
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timeout: 10.0 # hertbeat timeout in seconds
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timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
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system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
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# sys_status
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sys:
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min_voltage: 10.0 # diagnostics min voltage
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disable_diag: false # disable all sys_status diagnostics, except heartbeat
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# sys_time
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time:
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time_ref_source: "fcu" # time_reference source
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timesync_mode: MAVLINK
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timesync_avg_alpha: 0.6 # timesync averaging factor
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# --- mavros plugins (alphabetical order) ---
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# 3dr_radio
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tdr_radio:
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low_rssi: 40 # raw rssi lower level for diagnostics
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# actuator_control
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# None
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# command
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cmd:
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use_comp_id_system_control: false # quirk for some old FCUs
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# dummy
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# None
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# ftp
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# None
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# global_position
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global_position:
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frame_id: "map" # origin frame
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child_frame_id: "base_link_drone" # body-fixed frame
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rot_covariance: 99999.0 # covariance for attitude?
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gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
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use_relative_alt: true # use relative altitude for local coordinates
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tf:
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send: true # send TF?
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frame_id: "map" # TF frame_id
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global_frame_id: "map" # TF earth frame_id
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child_frame_id: "base_link_drone" # TF child_frame_id
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# imu_pub
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imu:
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frame_id: "base_link"
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# need find actual values
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linear_acceleration_stdev: 0.0003
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angular_velocity_stdev: 0.0003490659 // 0.02 degrees
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orientation_stdev: 1.0
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magnetic_stdev: 0.0
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# local_position
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local_position:
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frame_id: "map"
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tf:
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send: false
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frame_id: "map"
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child_frame_id: "base_link"
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send_fcu: false
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# param
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# None, used for FCU params
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# rc_io
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# None
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# safety_area
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safety_area:
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p1: {x: 1.0, y: 1.0, z: 1.0}
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p2: {x: -1.0, y: -1.0, z: -1.0}
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# setpoint_accel
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setpoint_accel:
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send_force: false
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# setpoint_attitude
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setpoint_attitude:
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reverse_thrust: false # allow reversed thrust
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use_quaternion: false # enable PoseStamped topic subscriber
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "target_attitude"
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rate_limit: 50.0
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# setpoint_raw
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setpoint_raw:
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thrust_scaling: 1.0 # specify thrust scaling (normalized, 0 to 1) for thrust (like PX4)
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# setpoint_position
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setpoint_position:
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "target_position"
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rate_limit: 50.0
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mav_frame: LOCAL_NED
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# setpoint_velocity
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setpoint_velocity:
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mav_frame: LOCAL_NED
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# vfr_hud
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# None
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# waypoint
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mission:
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pull_after_gcs: true # update mission if gcs updates
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use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
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# for uploading waypoints to FCU
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# --- mavros extras plugins (same order) ---
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# adsb
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# None
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# debug_value
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# None
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# distance_sensor
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## Currently available orientations:
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# Check http://wiki.ros.org/mavros/Enumerations
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##
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distance_sensor:
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# rangefinder_sub:
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# frame_id: "drone_with_sonar::base_sonar_left"
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# subscriber: true
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# id: 0
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# orientation: PITCH_270 # only that orientation are supported by APM 3.4+
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front:
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frame_id: "drone_with_sonar::base_sonar_front"
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subscriber: true
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id: 0
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orientation: NONE
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max_range: 6.5
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left:
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frame_id: "drone_with_sonar::base_sonar_left"
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subscriber: true
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id: 2
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orientation: YAW_270
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right:
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frame_id: "drone_with_sonar::base_sonar_right"
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subscriber: true
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id: 3
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orientation: YAW_90
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back:
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frame_id: "drone_with_sonar::base_sonar_left"
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subscriber: true
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id: 4
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orientation: YAW_180
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# image_pub
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image:
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frame_id: "px4flow"
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# fake_gps
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fake_gps:
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# select data source
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use_mocap: true # ~mocap/pose
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mocap_transform: false # ~mocap/tf instead of pose
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mocap_withcovariance: false # ~mocap/pose uses PoseWithCovarianceStamped Message
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use_vision: false # ~vision (pose)
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use_hil_gps: true
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gps_id: 4
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# origin (default: Zürich)
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geo_origin:
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lat: 47.3667 # latitude [degrees]
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lon: 8.5500 # longitude [degrees]
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alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
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eph: 2.0
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epv: 2.0
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horiz_accuracy: 0.5
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vert_accuracy: 0.5
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speed_accuracy: 0.0
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satellites_visible: 6 # virtual number of visible satellites
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fix_type: 3 # type of GPS fix (default: 3D)
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tf:
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listen: false
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send: false # send TF?
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frame_id: "map" # TF frame_id
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child_frame_id: "fix" # TF child_frame_id
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rate_limit: 10.0 # TF rate
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gps_rate: 5.0 # GPS data publishing rate
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# landing_target
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landing_target:
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listen_lt: false
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mav_frame: "LOCAL_NED"
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land_target_type: "VISION_FIDUCIAL"
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image:
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width: 640 # [pixels]
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height: 480
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camera:
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fov_x: 2.0071286398 # default: 115 [degrees]
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fov_y: 2.0071286398
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tf:
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send: true
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listen: false
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frame_id: "landing_target"
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child_frame_id: "camera_center"
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rate_limit: 10.0
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target_size: {x: 0.3, y: 0.3}
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# mocap_pose_estimate
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mocap:
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# select mocap source
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use_tf: false # ~mocap/tf
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use_pose: true # ~mocap/pose
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# odom
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odometry:
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frame_tf:
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desired_frame: "ned"
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estimator_type: 3 # check enum MAV_ESTIMATOR_TYPE in <https://mavlink.io/en/messages/common.html>
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# px4flow
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px4flow:
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frame_id: "px4flow"
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ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
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ranger_min_range: 0.3 # meters
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ranger_max_range: 5.0 # meters
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# vision_pose_estimate
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vision_pose:
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "vision_estimate"
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rate_limit: 10.0
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# vision_speed_estimate
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vision_speed:
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listen_twist: true # enable listen to twist topic, else listen to vec3d topic
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twist_cov: true # enable listen to twist with covariance topic
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# vibration
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vibration:
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frame_id: "base_link"
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# wheel_odometry
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wheel_odometry:
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count: 2 # number of wheels to compute odometry
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use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
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wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
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wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
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send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
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send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
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frame_id: "map" # origin frame
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child_frame_id: "base_link" # body-fixed frame
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vel_error: 0.1 # wheel velocity measurement error 1-std (m/s)
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tf:
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send: true
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frame_id: "map"
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child_frame_id: "base_link"
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# vim:set ts=2 sw=2 et:
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Executable
+25
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<launch>
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<!-- vim: set ft=xml noet : -->
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<!-- Experimental launch script for APM based Drone -->
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<arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
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<arg name="gcs_url" default="" />
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<arg name="tgt_system" default="1" />
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<arg name="tgt_component" default="1" />
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<arg name="log_output" default="screen" />
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<arg name="respawn_mavros" default="true"/>
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<arg name="mavros_ns" default="/"/>
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<arg name="config_yaml" default="$(find mavros)/launch/apm_config.yaml" />
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<include file="$(find iq_sim)/launch/mavros_node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
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<arg name="config_yaml" value="$(arg config_yaml)" />
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<arg name="mavros_ns" value="$(arg mavros_ns)"/>
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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<arg name="log_output" value="$(arg log_output)" />
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</include>
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</launch>
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Executable
+7
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<launch>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find iq_sim)/worlds/boat.world"/>
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<!-- more default parameters can be changed here -->
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</include>
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</launch>
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@@ -0,0 +1,28 @@
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<launch>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
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<param name="fcu_url" value="udp://127.0.0.1:14551@14555" />
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<!-- <param name="fcu_url" value="/dev/ttyUSB0" /> -->
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="1" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" />
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(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="$(find mavros)/launch/apm_config.yaml" />
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</node>
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</launch>
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Executable
+7
@@ -0,0 +1,7 @@
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<launch>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find iq_sim)/worlds/drone.world"/>
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<!-- more default parameters can be changed here -->
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</include>
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</launch>
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Executable
+13
@@ -0,0 +1,13 @@
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<launch>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
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<param name="fcu_url" value="/dev/serial/by-id/usb-ArduPilot_fmuv3_2D004E000F51393431353037-if00" />
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="1" />
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<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" />
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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</launch>
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Executable
+7
@@ -0,0 +1,7 @@
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||||
<launch>
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||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
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<arg name="world_name" value="$(find iq_sim)/worlds/drone1.world"/>
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<!-- more default parameters can be changed here -->
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</include>
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</launch>
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Executable
+7
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||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/drone2.world"/>
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||||
<!-- more default parameters can be changed here -->
|
||||
</include>
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||||
</launch>
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||||
Executable
+7
@@ -0,0 +1,7 @@
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||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/droneOnly.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
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||||
</launch>
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||||
@@ -0,0 +1,60 @@
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<launch>
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||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
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<param name="fcu_url" value="udp://127.0.0.1:14551@14555" />
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<!-- <param name="fcu_url" value="/dev/ttyUSB0" /> -->
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|
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<param name="gcs_url" value="" />
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<param name="target_system_id" value="1" />
|
||||
<param name="target_component_id" value="1" />
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<param name="fcu_protocol" value="v2.0" />
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|
||||
<!-- load blacklist, config -->
|
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<rosparam command="load" file="$(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="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone3">
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<param name="fcu_url" value="udp://127.0.0.1:14571@14575" />
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||||
<param name="gcs_url" value="" />
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<param name="target_system_id" value="3" />
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||||
<param name="target_component_id" value="1" />
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||||
<param name="fcu_protocol" value="v2.0" /> -->
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||||
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||||
<!-- load blacklist, config -->
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<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
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<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
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</node>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone4">
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<param name="fcu_url" value="udp://127.0.0.1:14581@14585" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="4" />
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||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone5">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14591@14595" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="5" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
</launch>
|
||||
Executable
+7
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/hills.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
Executable
+10
@@ -0,0 +1,10 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<arg name="gui" default="true"/>
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/lake_travis.world"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="verbose" value="True"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
Executable
+7
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/lidar.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
Executable
+27
@@ -0,0 +1,27 @@
|
||||
<launch>
|
||||
<!-- vim: set ft=xml noet : -->
|
||||
<!-- base node launch file-->
|
||||
|
||||
<arg name="fcu_url" />
|
||||
<arg name="gcs_url" />
|
||||
<arg name="mavros_ns" default=""/>
|
||||
<arg name="tgt_system" />
|
||||
<arg name="tgt_component" />
|
||||
<arg name="pluginlists_yaml" />
|
||||
<arg name="config_yaml" />
|
||||
<arg name="log_output" default="screen" />
|
||||
<arg name="fcu_protocol" default="v2.0" />
|
||||
<arg name="respawn_mavros" default="false" />
|
||||
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)" ns="$(arg mavros_ns)">
|
||||
<param name="fcu_url" value="$(arg fcu_url)" />
|
||||
<param name="gcs_url" value="$(arg gcs_url)" />
|
||||
<param name="target_system_id" value="$(arg tgt_system)" />
|
||||
<param name="target_component_id" value="$(arg tgt_component)" />
|
||||
<param name="fcu_protocol" value="$(arg fcu_protocol)" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(arg pluginlists_yaml)" />
|
||||
<rosparam command="load" file="$(arg config_yaml)" />
|
||||
</node>
|
||||
</launch>
|
||||
Executable
+38
@@ -0,0 +1,38 @@
|
||||
<launch>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14551@14555" />
|
||||
<!-- <param name="fcu_url" value="/dev/ttyUSB0" /> -->
|
||||
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="1" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone2">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14561@14565" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="2" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone3">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14571@14575" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="3" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
</launch>
|
||||
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/multi_drone.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
Executable
+7
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/river.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
Executable
+9
@@ -0,0 +1,9 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<arg name="gui" default="true"/>
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/runway.world"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
@@ -0,0 +1,71 @@
|
||||
<launch>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14551@14555" />
|
||||
<!-- <param name="fcu_url" value="/dev/ttyUSB0" /> -->
|
||||
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="1" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone2">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14561@14565" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="2" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone3">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14571@14575" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="3" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone4">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14581@14585" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="4" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone5">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14591@14595" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="5" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone6">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14601@14605" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="6" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
</launch>
|
||||
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/six_drone.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/test.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
@@ -0,0 +1,38 @@
|
||||
<launch>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone1">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14551@14555" />
|
||||
<!-- <param name="fcu_url" value="/dev/ttyUSB0" /> -->
|
||||
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="1" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone2">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14561@14565" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="2" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" />
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen" respawn="true" ns="/drone3">
|
||||
<param name="fcu_url" value="udp://127.0.0.1:14571@14575" />
|
||||
<param name="gcs_url" value="" />
|
||||
<param name="target_system_id" value="3" />
|
||||
<param name="target_component_id" value="1" />
|
||||
<param name="fcu_protocol" value="v2.0" /> -->
|
||||
|
||||
<!-- load blacklist, config -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_pluginlists.yaml" />
|
||||
<rosparam command="load" file="$(find mavros)/launch/apm_config.yaml" />
|
||||
</node>
|
||||
</launch>
|
||||
Executable
+7
@@ -0,0 +1,7 @@
|
||||
<launch>
|
||||
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find iq_sim)/worlds/windy.world"/>
|
||||
<!-- more default parameters can be changed here -->
|
||||
</include>
|
||||
</launch>
|
||||
Reference in New Issue
Block a user