diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index f43bbf47092ad9d7371066d7574bb40529dbb0ef..db980731fe56a47c1e3d03684b78aa61e19e4e43 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
+<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
<include file="$(find px4)/launch/multicopter_x.launch">
<arg name="ns" value="$(arg ns)"/>
+ <arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
diff --git a/launch/iris.launch b/launch/iris.launch
index 5231e3215b8e3ae3d74254b8438b5fd83eae560a..798b761d76dd50d8cde3536c10c40101378a0866 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
+<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
<include file="$(find px4)/launch/multicopter_w.launch">
<arg name="ns" value="$(arg ns)"/>
+ <arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
diff --git a/launch/multi_uav.launch b/launch/multi_uav.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6fb1589e808a21017c03b8a622c59e4f4cdf7ad7
--- /dev/null
+++ b/launch/multi_uav.launch
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<launch>
+ <arg name="headless" default="false"/>
+ <arg name="gui" default="true"/>
+ <arg name="enable_logging" default="false"/>
+ <arg name="enable_ground_truth" default="true"/>
+ <arg name="debug" default="false"/>
+ <arg name="ns" default="iris"/>
+ <arg name="log_file" default="$(arg ns)"/>
+
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/>
+ <arg name="debug" value="$(arg debug)" />
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ </include>
+
+ <group ns="iris">
+ <include file="$(find rotors_gazebo)/launch/spawn_iris.launch">
+ <arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" />
+ <arg name="enable_logging" value="$(arg enable_logging)" />
+ <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+ <arg name="log_file" value="$(arg log_file)"/>
+ <arg name="x" value="1"/>
+ <arg name="y" value="0"/>
+ </include>
+ <arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
+ <include file="$(find mavros)/launch/px4.launch">
+ <arg name="fcu_url" value="$(arg fcu_url)" />
+ </include>
+ </group>
+ <include file="$(find px4)/launch/iris.launch">
+ <arg name="ns" value="iris"/>
+ </include>
+
+ <group ns="ardrone">
+ <include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
+ <arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" />
+ <arg name="enable_logging" value="$(arg enable_logging)" />
+ <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+ <arg name="log_file" value="$(arg log_file)"/>
+ <arg name="x" value="-1"/>
+ <arg name="y" value="0"/>
+ </include>
+ <arg name="fcu_url" default="udp://localhost:14570@localhost:14575" />
+ <include file="$(find mavros)/launch/px4.launch">
+ <arg name="fcu_url" value="$(arg fcu_url)" />
+ </include>
+ </group>
+ <include file="$(find px4)/launch/ardrone.launch">
+ <arg name="ns" value="ardrone"/>
+ <arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/>
+ </include>
+
+</launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 6882f241378d776e68dac867d17c76a51a272f96..bf68da95ddef9645daba2f923eaf1bebb33684eb 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -1,5 +1,6 @@
<launch>
<arg name="ns"/>
+<arg name="mavlink_fcu_url"/>
<group ns="$(arg ns)">
<node pkg="joy" name="joy_node" type="joy_node"/>
@@ -10,7 +11,9 @@
<node pkg="px4" name="position_estimator" type="position_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<node pkg="px4" name="mc_pos_control" type="mc_pos_control"/>
- <node pkg="px4" name="mavlink" type="mavlink"/>
+ <node pkg="px4" name="mavlink" type="mavlink">
+ <param name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" type="str"/>
+ </node>
<!-- <node pkg="rosbag" type="record" name="record" output="screen" args="-a -O px4_multicopter"/> -->
</group>
diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch
index 66c30d186faf77b0dcaece9e38e48ca13bb0eec2..617357452f955de7706835f6b5f03079cdeb0a5f 100644
--- a/launch/multicopter_w.launch
+++ b/launch/multicopter_w.launch
@@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
+<arg name="mavlink_fcu_url"/>
<include file="$(find px4)/launch/multicopter.launch">
<arg name="ns" value="$(arg ns)"/>
+ <arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch
index c686eba390bdfcd0f940738c8e270911587ed6e3..b7db46dcb5c8a84bae57c76cfbce1d405cc30258 100644
--- a/launch/multicopter_x.launch
+++ b/launch/multicopter_x.launch
@@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
+<arg name="mavlink_fcu_url"/>
<include file="$(find px4)/launch/multicopter.launch">
<arg name="ns" value="$(arg ns)"/>
+ <arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp
index c92dd0843d13b6aef39d0e08cc3eb6cd41aaa156..567acc200e1fceab2c31bb742b51117cceef7e4d 100644
--- a/src/platforms/ros/nodes/mavlink/mavlink.cpp
+++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp
@@ -46,7 +46,7 @@
using namespace px4;
-Mavlink::Mavlink() :
+Mavlink::Mavlink(std::string mavlink_fcu_url) :
_n(),
_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
@@ -55,7 +55,7 @@ Mavlink::Mavlink() :
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
{
- _link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
+ _link = mavconn::MAVConnInterface::open_url(mavlink_fcu_url);
_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
_att_sp = {};
_offboard_control_mode = {};
@@ -64,7 +64,10 @@ Mavlink::Mavlink() :
int main(int argc, char **argv)
{
ros::init(argc, argv, "mavlink");
- Mavlink m;
+ ros::NodeHandle privateNh("~");
+ std::string mavlink_fcu_url;
+ privateNh.param<std::string>("mavlink_fcu_url", mavlink_fcu_url, std::string("udp://localhost:14565@localhost:14560"));
+ Mavlink m(mavlink_fcu_url);
ros::spin();
return 0;
}
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h
index 8b7d08d242741daf31c784db430a48fb9325606f..af9e019993794cce326d68f109dc9103ccd128af 100644
--- a/src/platforms/ros/nodes/mavlink/mavlink.h
+++ b/src/platforms/ros/nodes/mavlink/mavlink.h
@@ -55,7 +55,7 @@ namespace px4
class Mavlink
{
public:
- Mavlink();
+ Mavlink(std::string mavlink_fcu_url);
~Mavlink() {}