diff --git a/ap_master/launch/master.launch b/ap_master/launch/master.launch index 9dfaaa5ec8b2dc00639fde26d3fa66388bf9e100..e4dab7177ce56b2cb94f012d5ca855fb573f5fe2 100644 --- a/ap_master/launch/master.launch +++ b/ap_master/launch/master.launch @@ -15,6 +15,7 @@ <arg name="ap_dev" default="/dev/ttyUSB*" /> <!-- Device string --> <arg name="net_dev" default="wlan0" /> <!-- Network device --> <arg name="net_port" default="5554" /> <!-- Network port --> + <arg name="publish_clock" default="false" /> <!-- If mavbridge should publish the clock --> <!-- Derived (conditional) arguments --> <arg name="gps_arg" default="--gps-time-hack" if="$(arg gps)" /> @@ -34,7 +35,9 @@ <!-- Core Nodes --> - <node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)" /> + <node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)"> + <param name="publish_clock" type="bool" value="$(arg publish_clock)" /> + </node> <node name="safety" pkg="ap_safety_monitor" type="safety.py" output="screen" > <remap from="safety/heartbeat" to="autopilot/heartbeat_onboard" /> diff --git a/ap_master/launch/sitl.launch b/ap_master/launch/sitl.launch index 45e0005169e47326f22680b3b63e10a8fd612dfe..0cf6a16dd496be4953c7a3fad33bf1b25c8bb779 100644 --- a/ap_master/launch/sitl.launch +++ b/ap_master/launch/sitl.launch @@ -13,6 +13,8 @@ <arg name="id" /> <arg name="range" default="-1"/> <arg name="team" default="1"/> + <!-- If in Gazebo SITL publish the clock --> + <arg name="publish_clock" default="false"/> <!-- Optional features --> <arg name="bag" default="0" /> <!-- Generate ROS bag files --> @@ -34,8 +36,9 @@ <arg name="net_port" default="$(arg port)" /> <!-- pass game-specific parameters (e.g., virtual sensor) --> - <arg name="range" default="$(arg range)" /> - <arg name="team" default="$(arg team)" /> + <arg name="range" default="$(arg range)" /> <arg name="team" default="$(arg team)" /> + <arg name="publish_clock" default="$(arg publish_clock)"/> + </include> </launch>