From e8c6cf10786aef11f8d1540f500bdb8420b2495d Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Thu, 14 Aug 2014 16:50:48 +0400
Subject: [PATCH] launch: Add example launch for #103.

---
 mavros_extras/launch/px4_image.launch | 31 +++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 mavros_extras/launch/px4_image.launch

diff --git a/mavros_extras/launch/px4_image.launch b/mavros_extras/launch/px4_image.launch
new file mode 100644
index 000000000..6ae3f6571
--- /dev/null
+++ b/mavros_extras/launch/px4_image.launch
@@ -0,0 +1,31 @@
+<launch>
+	<!-- vim: ft=roslaunch -->
+	<!-- example launch script for PX4 based FCU's with gcs_image_bridge -->
+
+	<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" />
+
+	<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="$(arg tgt_component)" />
+
+		<!-- load px4 blacklist -->
+		<rosparam command="load" file="$(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>
+
+	<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>