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27 lines
1.0 KiB
XML
27 lines
1.0 KiB
XML
<launch>
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<!-- vim: set ft=xml noet : -->
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<!-- base node launch file-->
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<arg name="fcu_url" />
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<arg name="gcs_url" />
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<arg name="mavros_ns" default=""/>
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<arg name="tgt_system" />
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<arg name="tgt_component" />
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<arg name="pluginlists_yaml" />
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<arg name="config_yaml" />
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<arg name="log_output" default="screen" />
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<arg name="fcu_protocol" default="v2.0" />
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<arg name="respawn_mavros" default="false" />
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<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)">
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<param name="fcu_url" value="$(arg fcu_url)" />
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<param name="gcs_url" value="$(arg gcs_url)" />
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<param name="target_system_id" value="$(arg tgt_system)" />
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<param name="target_component_id" value="$(arg tgt_component)" />
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<param name="fcu_protocol" value="$(arg fcu_protocol)" />
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<!-- load blacklist, config -->
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<rosparam command="load" file="$(arg pluginlists_yaml)" />
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<rosparam command="load" file="$(arg config_yaml)" />
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</node>
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</launch> |