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setpoint.launch
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<?xml version="1.0"?>
<launch>
<arg name="fcu_url" default="serial:///dev/ttyUSB0:115200" />
<arg name="gcs_url" default="udp://:[email protected]:14550" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="50" />
<node name="mavros" pkg="mavros" type="mavros_node" output="screen">
<remap from="/mavros/vision_pose/vision" to="/msf_core/pose" />
<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)" />
<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" />
<param name="startup_px4_usb_quirk" value="true" />
<param name="vision_pose/pose_with_covariance" value="true" />
</node>
<node name="setpoint" pkg="visualuwb" type="setpoint_demo.py" output="screen">
</node>
</launch>