vision: by default, do not send ODOMETRY Mavlink msgs

PX4 · Jun 24, 2018 · fcee53f · fcee53f
1 parent 3c7d18d
commit fcee53f
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/models/rotors_description/urdf/component_snippets.xacro b/models/rotors_description/urdf/component_snippets.xacro
@@ -135,7 +135,7 @@
   </xacro:macro>
 
   <!-- Macro to add the mavlink interface. -->
-  <xacro:macro name="mavlink_interface_macro" params="namespace imu_sub_topic gps_sub_topic mavlink_addr mavlink_udp_port serial_enabled serial_device baudrate qgc_addr qgc_udp_port hil_mode hil_state_level vehicle_is_tailsitter">
+  <xacro:macro name="mavlink_interface_macro" params="namespace imu_sub_topic gps_sub_topic mavlink_addr mavlink_udp_port serial_enabled serial_device baudrate qgc_addr qgc_udp_port hil_mode hil_state_level vehicle_is_tailsitter send_odometry">
     <gazebo>
       <plugin name="mavlink_interface" filename="libgazebo_mavlink_interface.so">
         <robotNamespace>${namespace}</robotNamespace>
@@ -151,6 +151,7 @@
         <hil_mode>$(arg hil_mode)</hil_mode>
         <hil_state_level>$(arg hil_state_level)</hil_state_level>
         <vehicle_is_tailsitter>$(arg vehicle_is_tailsitter)</vehicle_is_tailsitter>
+        <send_odometry>$(arg send_odometry)</send_odometry>
         <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
         <control_channels>
           <channel name="rotor1">

diff --git a/models/rotors_description/urdf/iris_base.xacro b/models/rotors_description/urdf/iris_base.xacro
@@ -14,6 +14,7 @@
   <xacro:arg name='qgc_udp_port' default='14550' />
   <xacro:arg name='hil_mode' default='false' />
   <xacro:arg name='hil_state_level' default='false' />
+  <xacro:arg name='send_odometry' default='false' />
   <xacro:arg name='vehicle_is_tailsitter' default='false' />
   <xacro:arg name='visual_material' default='DarkGrey' />
   <xacro:arg name='enable_mavlink_interface' default='true' />
@@ -42,14 +43,14 @@
         />
   </xacro:if>
 
-  
+
     <!-- Instantiate gps plugin. -->
   <xacro:gps_plugin_macro
     namespace="${namespace}"
     gps_noise="true"
     >
   </xacro:gps_plugin_macro>
-  
+
   <xacro:if value="$(arg enable_mavlink_interface)">
   <!-- Instantiate mavlink telemetry interface. -->
   <xacro:mavlink_interface_macro
@@ -66,6 +67,7 @@
     hil_mode="$(arg hil_mode)"
     hil_state_level="$(arg hil_state_level)"
     vehicle_is_tailsitter="$(arg vehicle_is_tailsitter)"
+    send_odometry="$(arg send_odometry)"
     >
   </xacro:mavlink_interface_macro>
   </xacro:if>
@@ -154,4 +156,3 @@
   </xacro:if>
 
 </robot>
-