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<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<!-- MAVROS configs -->
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="respawn_mavros" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="R" value="$(arg R)"/>
<arg name="P" value="$(arg P)"/>
<arg name="Y" value="$(arg Y)"/>
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
</include>
</launch>