From 3d55fe9245cade7f9c1213cc2bd2c0f72628ce00 Mon Sep 17 00:00:00 2001
From: Tully Foote <tfoote@osrfoundation.org>
Date: Fri, 27 Jan 2017 17:03:40 -0800
Subject: [PATCH] triggering new mavbridge clock behavior
---
ap_master/launch/master.launch | 5 ++++-
ap_master/launch/sitl.launch | 7 +++++--
2 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/ap_master/launch/master.launch b/ap_master/launch/master.launch
index 9dfaaa5..e4dab71 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 45e0005..0cf6a16 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>
--
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