launch: PX4: use node.launch in PX4 scripts.

Also remove px4_local_gcs.launch: please use
`roslaunch mavros px4.launch gcs_url:=udp://@localhost` instead.

Issue #144.

mavros/launch/apm2.launch

@@ -1,5 +1,5 @@
 <launch>
-	<!-- vim: ft=roslaunch -->
+	<!-- vim: ft=xml -->
 	<!-- example launch script for ArduPilotMega based FCU's -->
 
 	<arg name="fcu_url" default="/dev/ttyACM0:57600" />

mavros/launch/apm2_radio.launch

@@ -1,5 +1,5 @@
 <launch>
-	<!-- vim: ft=roslaunch -->
+	<!-- vim: ft=xml -->
 	<!-- This file almost same as apm2.launch but defaults set for connections via 3DR Radio modem -->
 
 	<arg name="fcu_url" default="/dev/ttyUSB0:57600" />

mavros/launch/node.launch

@@ -1,5 +1,5 @@
 <launch>
-	<!-- vim: ft=roslaunch -->
+	<!-- vim: ft=xml -->
 	<!-- base node launch file-->
 
 	<arg name="fcu_url" />

mavros/launch/px4.launch

@@ -1,25 +1,19 @@
 <launch>
-	<!-- vim: ft=roslaunch -->
+	<!-- vim: ft=xml -->
 	<!-- example launch script for PX4 based FCU's -->
 
-	<arg name="fcu_url" default="serial:///dev/ttyACM0:57600" />
+	<arg name="fcu_url" default="/dev/ttyACM0:57600" />
 	<arg name="gcs_url" default="" />
 	<arg name="tgt_system" default="1" />
 	<arg name="tgt_component" default="50" />
 
-	<node pkg="mavros" type="mavros_node" name="mavros" required="true" clear_params="true" output="screen">
-		<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)" />
+	<include file="$(find mavros)/launch/node.launch">
+		<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
+		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
 
-		<!-- px4 blacklist -->
-		<rosparam command="load" file="$(find mavros)/launch/px4_blacklist.yaml" />
-
-		<!-- enable heartbeat send and reduce timeout -->
-		<param name="conn_heartbeat" value="5.0" />
-		<param name="conn_timeout" value="10.0" />
-		<!-- enable mavlink autostart on USB port -->
-		<param name="startup_px4_usb_quirk" value="true" />
-	</node>
+		<arg name="fcu_url" value="$(arg fcu_url)" />
+		<arg name="gcs_url" value="$(arg gcs_url)" />
+		<arg name="tgt_system" value="$(arg tgt_system)" />
+		<arg name="tgt_component" value="$(arg tgt_component)" />
+	</include>
 </launch>

mavros/launch/px4_blacklist.yaml

@@ -1 +1,2 @@
-plugin_blacklist: []
+plugin_blacklist:
+- '3dr_radio'

mavros/launch/px4_config.yaml

@@ -0,0 +1,123 @@
+# Common configuration for PX4 autopilot
+#
+# node:
+startup_px4_usb_quirk: true
+
+# sys_status
+conn_heartbeat: 5.0 # send hertbeat every n secs
+conn_timeout: 10.0  # hertbeat timeout n secs
+sys:
+  min_voltage: 10.0  # diagnostics min voltage
+
+# imu_pub
+imu:
+  frame_id: "fcu"
+  # need find actual values
+  linear_acceleration_stdev: 0.0003
+  angular_velocity_stdev: !degrees 0.02
+  orientation_stdev: 1.0
+  magnetic_stdev: 0.0
+
+# gps
+gps:
+  frame_id: "gps"
+  #time_ref_source: "gps"
+
+# param
+# None
+
+# waypoint
+mission:
+  pull_after_gcs: true  # update mission if gcs updates
+
+# pc_io
+# None
+
+# command
+# None
+
+# *_position
+#position:
+#  # local_position
+#  local:
+#    send_tf: false
+#    frame_id: "local_origin"
+#    child_frame_id: "fcu"
+#
+#  # vision_pose_estimate [extra]
+#  vision:
+#    pose_with_covariance: false
+#    listen_tf: false
+#    frame_id: "local_origin"
+#    child_frame_id: "vision"
+#    tf_rate_limit: 10.0
+
+# *_setpoint
+#setpoint:
+#  # setpoint_accel
+#  accel:
+#    send_force: false
+#
+#  # setpoint_attitude
+#  attitude:
+#    listen_tf: false
+#    listen_twist: false
+#    pose_with_covariance: false
+#    frame_id: "local_origin"
+#    child_frame_id: "attitude"
+#    tf_rate_limit: 10.0
+#
+#  # setpoint_position
+#  position:
+#    listen_tf: false
+#    frame_id: "local_origin"
+#    child_frame_id: "setpoint"
+#    tf_rate_limit: 10.0
+#
+#  # setpoint_velocity
+#  # None
+
+# safety_area
+#safety_area:
+#  p1:
+#    x: 1.0
+#    y: 1.0
+#    z: 1.0
+#  p2:
+#    x: -1.0
+#    y: -1.0
+#    z: -1.0
+
+# 3dr_radio
+# None
+
+# global_position
+#global_position:
+#  send_tf: false
+#  frame_id: "local_origin"
+#  child_frame_id: "fcu"
+#  rot_covariance: 99999.0
+
+# vfr_hud
+# None
+
+# ftp
+# None
+
+# vision_speed_estimates [extras]
+#vision_speed:
+#  listen_twist: false
+
+# px4flow [extras]
+#optical_flow_tx: false  # publish mode (rx from FCU)
+
+# image_pub [extras]
+# None
+
+# mocap_pose_estimate [extras]
+#mocap:
+#  # select mocap source
+#  use_tf: false   # ~mocap/tf
+#  use_pose: true  # ~mocap/pose
+
+# vim:ts=2 sw=2 et:

mavros/launch/px4_radio.launch

@@ -1,26 +1,19 @@
 <launch>
-	<!-- vim: ft=roslaunch -->
-	<!-- example launch script for PX4 based FCU's -->
+	<!-- vim: ft=xml -->
 	<!-- This file almost same as px4.launch but defaults set for connections via 3DR Radio modem -->
 
-	<arg name="fcu_url" default="serial:///dev/ttyUSB0:57600" /> <!-- Radio link: /dev/ttyUSB0 @57600  -->
+	<arg name="fcu_url" default="/dev/ttyUSB0:57600" />
 	<arg name="gcs_url" default="" />
 	<arg name="tgt_system" default="1" />
 	<arg name="tgt_component" default="50" />
 
-	<node pkg="mavros" type="mavros_node" name="mavros" required="true" clear_params="true" output="screen">
-		<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)" />
+	<include file="$(find mavros)/launch/node.launch">
+		<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_radio_blacklist.yaml" />
+		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
 
-		<!-- px4 blacklist -->
-		<rosparam command="load" file="$(find mavros)/launch/px4_blacklist.yaml" />
-
-		<!-- enable heartbeat send and reduce timeout -->
-		<param name="conn_heartbeat" value="5.0" />
-		<param name="conn_timeout" value="10.0" />
-		<!-- enable mavlink autostart on USB port -->
-		<param name="startup_px4_usb_quirk" value="true" />
-	</node>
-</launch>
+		<arg name="fcu_url" value="$(arg fcu_url)" />
+		<arg name="gcs_url" value="$(arg gcs_url)" />
+		<arg name="tgt_system" value="$(arg tgt_system)" />
+		<arg name="tgt_component" value="$(arg tgt_component)" />
+	</include>
+</launch>

mavros/launch/px4_radio_blacklist.yaml

@@ -0,0 +1 @@
+plugin_blacklist: []