add launch file without px4
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4362ca9acd
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ad36ae29b1
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@ -8,9 +8,10 @@ def pose_publisher():
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pose_msg.model_name = 'iris_0'
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rate = rospy.Rate(30)
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while not rospy.is_shutdown():
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pose_msg.pose.position.x = 0
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pose_msg.pose.position.y = 0
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pose_msg.pose.position.x = -2
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pose_msg.pose.position.y = 7.5
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pose_msg.pose.position.z = 1
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#同理也可以改orientation
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pub.publish(pose_msg)
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rate.sleep()
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@ -0,0 +1,40 @@
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="-2"/>
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<arg name="y" default="7.5"/>
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<arg name="z" default="1"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="iris"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor1.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_stereo_camera/iris_stereo_camera.sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl_without_px4.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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</launch>
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@ -0,0 +1,132 @@
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- typhoon_h480_0 -->
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<group ns="typhoon_h480_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18570"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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</group>
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<!-- typhoon_h480_1 -->
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<group ns="typhoon_h480_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18571"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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</group>
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<!-- iris_0 -->
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<group ns="iris_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18572"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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</group>
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<!-- iris_1 -->
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<group ns="iris_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="3"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18573"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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</group>
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<!-- iris_2 -->
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<group ns="iris_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="4"/>
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<arg name="ID_in_group" value="2"/>
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<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18574"/>
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<arg name="mavlink_tcp_port" value="4564"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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</group>
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</launch>
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<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
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@ -0,0 +1,36 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL environment launch script -->
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<!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="iris"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- gazebo model -->
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<node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle)_0 -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
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</launch>
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@ -0,0 +1,27 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL environment launch script -->
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<!-- launchs PX4 SITL and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehcile model and config -->
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<arg name="sdf" default="plane"/>
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="plane"/>
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<arg name="ID" default="0"/>
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<arg name="ID_in_group" default="0"/>
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<arg name="mavlink_udp_port" default="14560"/>
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<arg name="mavlink_tcp_port" default="4560"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- generate sdf vehicle model -->
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<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/mavlink_tcp_port' -s '//plugin[@name="mavlink_interface"]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg sdf)/$(arg sdf).sdf"/>
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<param command="$(arg cmd)" name="model_description"/>
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<!-- spawn vehicle -->
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<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID_in_group) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
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</launch>
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