px4.launch

<launch>
	<!-- example launch script for PX4 based FCU's -->

    <!-- launch MAVLINK in ROS -->
    <arg name="fcu_url" default="/dev/ttyUSB0:921600" />
        <!-- 
            when using USB serial (w/ onboard computer)
            - note that from time to time it might be 
              /dev/ttyACM0 (check it through "ls /dev/tty + tab")
            - note that baudrate "921600" varies from time to time,
              it depends on your setting in GGC            
        -->

	<!-- <arg name="fcu_url" default="tcp://{IP_ADDRRESS}:5760" /> -->
        <!-- when using WIFI-module (w/o onboard computer) -->

    <!-- <arg name="fcu_url" default="udp://:14540@127.0.0.1:14557" /> -->
        <!-- during Gazebo SITL simulation -->

	<!-- QGC broadcast -->
    <arg name="gcs_url" default="udp-b://@" /> 
        <!-- boardcast to all local network -->

    <!-- <arg name="gcs_url" default="udp://:14560@{IP_ADDRRESS}:14550" /> -->
        <!-- broadcast to specific IP -->

    <!-- <arg name="gcs_url" default="udp://:14560@127.0.0.1:14550" /> -->
        <!-- during Gazebo SITL simulation -->


	<arg name="tgt_system" default="1" />
	<arg name="tgt_component" default="1" />
	<arg name="log_output" default="screen" />
	<arg name="fcu_protocol" default="v2.0" />
	<arg name="respawn_mavros" default="false" />

	<include file="$(find mavros)/launch/node.launch">
		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />

		<arg name="fcu_url" value="$(arg fcu_url)" />
		<arg name="gcs_url" value="$(arg gcs_url)" />
		<arg name="tgt_system" value="$(arg tgt_system)" />
		<arg name="tgt_component" value="$(arg tgt_component)" />
		<arg name="log_output" value="$(arg log_output)" />
		<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
		<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
	</include>
</launch>