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fix px4 launch file for ROS2 #1834

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merged 7 commits into from
Feb 24, 2023
Merged

fix px4 launch file for ROS2 #1834

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3de8bcf
fix px4 launch file on ROS2.
vacabun Feb 23, 2023
906d9e3
fix plugin distance_sensor parses yaml from string parameter.
vacabun Feb 24, 2023
07d3752
fix apm launch files to ROS2.
vacabun Feb 24, 2023
a390b06
remove file 'apm2.lunch'.
vacabun Feb 24, 2023
8352765
remove event_launcher.yaml mavlink_bridge.launch
vacabun Feb 24, 2023
e684ed6
1.Change part of parameters to be flat In ROS2.
vacabun Feb 24, 2023
7304cf0
change plugin odom parameters in apm launch.
vacabun Feb 24, 2023
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16 changes: 8 additions & 8 deletions mavros/launch/node.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -12,15 +12,15 @@
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />

<node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)">
<param name="fcu_url" value="$(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="$(arg tgt_component)" />
<param name="fcu_protocol" value="$(arg fcu_protocol)" />
<node pkg="mavros" exec="mavros_node" namespace="mavros" output="$(var log_output)">
<param name="fcu_url" value="$(var fcu_url)" />
<param name="gcs_url" value="$(var gcs_url)" />
<param name="target_system_id" value="$(var tgt_system)" />
<param name="target_component_id" value="$(var tgt_component)" />
<param name="fcu_protocol" value="$(var fcu_protocol)" />

<!-- load blacklist, config -->
<rosparam command="load" file="$(arg pluginlists_yaml)" />
<rosparam command="load" file="$(arg config_yaml)" />
<param from="$(var pluginlists_yaml)" />
<param from="$(var config_yaml)" />
</node>
</launch>
23 changes: 10 additions & 13 deletions mavros/launch/px4.launch
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Original file line number Diff line number Diff line change
@@ -1,7 +1,4 @@
<launch>
<!-- vim: set ft=xml noet : -->
<!-- example launch script for PX4 based FCU's -->

<arg name="fcu_url" default="/dev/ttyACM0:57600" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
Expand All @@ -10,16 +7,16 @@
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />

<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<include file="$(find-pkg-share mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find-pkg-share mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find-pkg-share mavros)/launch/px4_config.yaml" />

<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)" />
<arg name="log_output" value="$(arg log_output)" />
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
<arg name="fcu_url" value="$(var fcu_url)" />
<arg name="gcs_url" value="$(var gcs_url)" />
<arg name="tgt_system" value="$(var tgt_system)" />
<arg name="tgt_component" value="$(var tgt_component)" />
<arg name="log_output" value="$(var log_output)" />
<arg name="fcu_protocol" value="$(var fcu_protocol)" />
<arg name="respawn_mavros" value="$(var respawn_mavros)" />
</include>
</launch>
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