mavros_node.launch

<launch>
	<!-- vim: set ft=xml noet : -->
	<!-- base node launch file-->

	<arg name="fcu_url" />
	<arg name="gcs_url" />
	<arg name="mavros_ns" default=""/>
	<arg name="tgt_system" />
	<arg name="tgt_component" />
	<arg name="pluginlists_yaml" />
	<arg name="config_yaml" />
	<arg name="log_output" default="screen" />
	<arg name="fcu_protocol" default="v2.0" />
	<arg name="respawn_mavros" default="false" />

	<node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)" ns="$(arg mavros_ns)">
		<param name="fcu_url" value="$(arg fcu_url)" />
		<param name="gcs_url" value="$(arg gcs_url)" />
		<param name="target_system_id" value="$(arg tgt_system)" />
		<param name="target_component_id" value="$(arg tgt_component)" />
		<param name="fcu_protocol" value="$(arg fcu_protocol)" />

		<!-- load blacklist, config -->
		<rosparam command="load" file="$(arg pluginlists_yaml)" />
		<rosparam command="load" file="$(arg config_yaml)" />
	</node>
</launch>