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Submodule sitl_gazebo
updated
from a33f69 to 6a1123
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,82 @@ | ||
| <launch> | ||
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| <!-- Posix SITL environment launch script --> | ||
| <arg name="x" default="0"/> | ||
| <arg name="y" default="0"/> | ||
| <arg name="z" default="0"/> | ||
| <arg name="R" default="0"/> | ||
| <arg name="P" default="0"/> | ||
| <arg name="Y" default="0"/> | ||
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| <arg name="x2" default="-1"/> | ||
| <arg name="y2" default="-3"/> | ||
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| <arg name="est" default="lpe"/> | ||
| <arg name="vehicle" default="f450"/> | ||
| <arg name="vehicle2" default="f450-1"/> | ||
| <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> | ||
| <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> | ||
| <arg name="sdf2" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle2)/$(arg vehicle2).sdf"/> | ||
| <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/> | ||
| <arg name="rcS2" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle2)"/> | ||
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| <arg name="headless" default="false"/> | ||
| <arg name="gui" default="true"/> | ||
| <arg name="ns" default="/"/> | ||
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| <arg name="debug" default="false"/> | ||
| <arg name="verbose" default="false"/> | ||
| <arg name="paused" default="false"/> | ||
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| <arg name="log_output" default="screen" /> | ||
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| <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" /> | ||
| <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" /> | ||
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| <node name="sitl" pkg="px4" type="px4" output="screen" | ||
| args="$(find px4) $(arg rcS)"> | ||
| </node> | ||
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| <node name="sitl2" pkg="px4" type="px4" output="screen" | ||
| args="$(find px4) $(arg rcS2)"> | ||
| </node> | ||
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| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="gui" value="$(arg gui)"/> | ||
| <arg name="world_name" value="$(arg world)" /> | ||
| <arg name="debug" value="$(arg debug)" /> | ||
| <arg name="verbose" value="$(arg verbose)" /> | ||
| <arg name="paused" value="$(arg paused)" /> | ||
| </include> | ||
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| <node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" | ||
| args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>--> | ||
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| <node name="$(anon vehicle_spawn_2)" output="screen" pkg="gazebo_ros" type="spawn_model" | ||
| args="-sdf -file $(arg sdf2) -model $(arg vehicle2) -x $(arg x2) -y $(arg y2) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/> | ||
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| <node pkg="mavros" type="mavros_node" name="mavros1" required="true" clear_params="true" output="$(arg log_output)"> | ||
| <param name="fcu_url" value="udp://:14540@localhost:14557"/> | ||
| <param name="gcs_url" value="" /> | ||
| <param name="target_system_id" value="1" /> | ||
| <param name="target_component_id" value="1" /> | ||
| <param name="system_id" value="34" /> | ||
| <rosparam command="load" file="$(arg pluginlists_yaml)" /> | ||
| <rosparam command="load" file="$(arg config_yaml)" /> | ||
| </node> | ||
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| <node pkg="mavros" type="mavros_node" name="mavros2" required="true" clear_params="true" output="$(arg log_output)"> | ||
| <param name="fcu_url" value="udp://:14640@localhost:14657"/> | ||
| <param name="gcs_url" value="" /> | ||
| <param name="target_system_id" value="2" /> | ||
| <param name="target_component_id" value="2" /> | ||
| <param name="system_id" value="48" /> | ||
| <!-- load blacklist, config --> | ||
| <rosparam command="load" file="$(arg pluginlists_yaml)" /> | ||
| <rosparam command="load" file="$(arg config_yaml)" /> | ||
| </node> | ||
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| </launch> | ||
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| <!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : --> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| uorb start | ||
| param load | ||
| param set MAV_SYS_ID 2 | ||
| param set MAV_COMP_ID 2 | ||
| param set MAV_TYPE 2 | ||
| param set SYS_AUTOSTART 4010 | ||
| param set SYS_RESTART_TYPE 2 | ||
| dataman start | ||
| param set BAT_N_CELLS 3 | ||
| param set CAL_GYRO0_ID 2293768 | ||
| param set CAL_ACC0_ID 1376264 | ||
| param set CAL_ACC1_ID 1310728 | ||
| param set CAL_MAG0_ID 196616 | ||
| param set CAL_GYRO0_XOFF 0.01 | ||
| param set CAL_ACC0_XOFF 0.01 | ||
| param set CAL_ACC0_YOFF -0.01 | ||
| param set CAL_ACC0_ZOFF 0.01 | ||
| param set CAL_ACC0_XSCALE 1.01 | ||
| param set CAL_ACC0_YSCALE 1.01 | ||
| param set CAL_ACC0_ZSCALE 1.01 | ||
| param set CAL_ACC1_XOFF 0.01 | ||
| param set CAL_MAG0_XOFF 0.01 | ||
| param set SENS_BOARD_ROT 0 | ||
| param set SENS_BOARD_X_OFF 0.000001 | ||
| param set COM_RC_IN_MODE 1 | ||
| param set NAV_DLL_ACT 2 | ||
| param set COM_DISARM_LAND 3 | ||
| param set NAV_ACC_RAD 2.0 | ||
| param set COM_OF_LOSS_T 5 | ||
| param set COM_OBL_ACT 2 | ||
| param set COM_OBL_RC_ACT 0 | ||
| param set RTL_RETURN_ALT 30.0 | ||
| param set RTL_DESCEND_ALT 5.0 | ||
| param set RTL_LAND_DELAY 5 | ||
| param set MIS_TAKEOFF_ALT 2.5 | ||
| param set MC_ROLLRATE_P 0.2 | ||
| param set MC_PITCHRATE_P 0.2 | ||
| param set MC_PITCH_P 6 | ||
| param set MC_ROLL_P 6 | ||
| param set MPC_HOLD_MAX_Z 2.0 | ||
| param set MPC_HOLD_XY_DZ 0.1 | ||
| param set MPC_Z_VEL_P 0.6 | ||
| param set MPC_Z_VEL_I 0.15 | ||
| param set EKF2_GBIAS_INIT 0.01 | ||
| param set EKF2_ANGERR_INIT 0.01 | ||
| replay tryapplyparams | ||
| simulator start -s -u 14660 | ||
| rgbledsim start | ||
| tone_alarm start | ||
| gyrosim start | ||
| accelsim start | ||
| barosim start | ||
| adcsim start | ||
| gpssim start | ||
| pwm_out_sim mode_pwm | ||
| sleep 1 | ||
| sensors start | ||
| commander start | ||
| land_detector start multicopter | ||
| navigator start | ||
| attitude_estimator_q start | ||
| local_position_estimator start | ||
| mc_pos_control start | ||
| mc_att_control start | ||
| mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix | ||
| mavlink start -u 14656 -r 4000000 | ||
| mavlink start -u 14657 -r 4000000 -m onboard -o 14640 | ||
| mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14656 | ||
| mavlink stream -r 100 -s LOCAL_POSITION_NED -u 14656 | ||
| mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14656 | ||
| mavlink stream -r 50 -s ATTITUDE -u 14656 | ||
| mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14656 | ||
| mavlink stream -r 50 -s ATTITUDE_TARGET -u 14656 | ||
| mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14656 | ||
| mavlink stream -r 20 -s RC_CHANNELS -u 14656 | ||
| mavlink stream -r 50 -s HIGHRES_IMU -u 14656 | ||
| mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14656 | ||
| logger start -e -t | ||
| mavlink boot_complete | ||
| replay trystart |