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launch: Add example launch for #103.
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<launch> | ||
<!-- vim: ft=roslaunch --> | ||
<!-- example launch script for PX4 based FCU's with gcs_image_bridge --> | ||
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<arg name="fcu_url" default="serial:///dev/ttyACM0:57600" /> | ||
<arg name="gcs_url" default="udp://@" /> | ||
<arg name="tgt_system" default="1" /> | ||
<arg name="tgt_component" default="50" /> | ||
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<node pkg="mavros" type="mavros_node" name="mavros" required="true" clear_params="true" output="screen"> | ||
<param name="fcu_url" value="$(arg fcu_url)" /> | ||
<!-- disable internal gcs bridge --> | ||
<param name="gcs_url" value="" /> | ||
<param name="target_system_id" value="$(arg tgt_system)" /> | ||
<param name="target_component_id" value="$(arg tgt_component)" /> | ||
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<!-- load px4 blacklist --> | ||
<rosparam command="load" file="$(find mavros)/launch/px4_blacklist.yaml" /> | ||
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<!-- 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> | ||
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<node pkg="mavros_extras" type="gcs_image_bridge" name="gcs_image_bridge" clear_params="true" output="screen"> | ||
<!-- <remap from="/mavlink/gcs_image" to="/image/source" /> --> | ||
<param name="gcs_url" value="$(arg gcs_url)" /> | ||
</node> | ||
</launch> |