copter_circuit.launch

copter_circuit.launch

<!--This work is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License. To view a copy of this license, visit http://creativecommons.org/licenses/by-nc/4.0/.-->
<launch>

  <arg name="simRate" default="nan"/>
  <!-- Enable simulation clock -->
  <param name="use_sim_time" type="bool" value="true" />
  <include file="$(find mavros)/launch/apm_sitl_copter.launch"></include>

  <arg name="enable_logging" default="true"/>
  <arg name="enable_ground_truth" default="true"/>
  <arg name="log_file" default="erlecopter"/>
  <arg name="headless" default="false"/>
  <arg name="gui" default="true"/>
  <arg name="world_name" default="$(find ardupilot_sitl_gazebo_plugin)/worlds/rover_circuit/copter_circuit.world"/>
  <!--arg name="world_name" default="$(find ardupilot_sitl_gazebo_plugin)/worlds/empty_world/empty.world"/-->
  <env name="GAZEBO_MODEL_PATH" value="$(find drcsim_model_resources)/gazebo_models/environments:$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_sensors:$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_outdoor:$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_warehouse"/>
  <arg name="name" default="erlecopter"/>
  <arg name="model" default="$(find ardupilot_sitl_gazebo_plugin)/urdf/erlecopter_base.xacro"/>
  <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
  <arg name="debug" default="true"/>
  <arg name="verbose" default="true"/>

  <!-- Initial pose for the drone -->
  <arg name="x" default="0.0"/> <!-- [m], positive to the North -->
  <arg name="y" default="0.0"/> <!-- [m], negative to the East -->
  <arg name="z" default="0.08"/> <!-- [m], positive Up -->
  <arg name="roll" default="0"/> <!-- [rad] -->
  <arg name="pitch" default="0"/> <!-- [rad] -->
  <arg name="yaw" default="3.1415"/> <!-- [rad], negative clockwise -->

  <!-- send the robot XML to param server -->
  <param name="robot_description" command="
    $(find xacro)/xacro.py '$(arg model)'
    enable_logging:=$(arg enable_logging)
    enable_ground_truth:=$(arg enable_ground_truth)
    log_file:=$(arg log_file)"
  />
  <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_erlecopter" pkg="gazebo_ros" type="spawn_model"
   args="-param robot_description
         -urdf
         -x $(arg x)
         -y $(arg y)
         -z $(arg z)
         -R $(arg roll)
         -P $(arg pitch)
         -Y $(arg yaw)
         -model $(arg name)"
   respawn="false" output="screen">
  </node>
  
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="true"/>   <!-- value unrelevant due to Arducopter plugin steps --> 
    <arg name="headless" value="$(arg headless)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="world_name" value="$(arg world_name)"/>
  </include>
    
</launch>