simulator.launch

<launch>
    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
    <arg name="mav_id" default="0"/>
    <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
    <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
    <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
    <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
    <arg name="gps" default="false"/> <!--Simulated GPS module -->
    <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
    <arg name="gui" default="true"/> <!-- Run Gazebo with GUI -->

    <!-- Gazebo instance -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
        <!-- Workaround for crashes in VMware -->
        <env name="SVGA_VGPU10" value="0"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
        <arg name="verbose" value="true"/>
    </include>

    <!-- PX4 instance -->
    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
        <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
        <env name="PX4_ESTIMATOR" value="$(arg est)"/>
    </node>

    <!-- Clover model -->
    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
        <arg name="main_camera" value="$(arg main_camera)"/>
        <arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
        <arg name="rangefinder" value="$(arg rangefinder)"/>
        <arg name="led" value="$(arg led)"/>
        <arg name="gps" value="$(arg gps)"/>
        <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
    </include>

    <node name="jmavsim" pkg="px4" required="true" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
        <env name="HEADLESS" value="1" if="$(eval not gui)"/>
    </node>

    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>

    <!-- Clover services -->
    <include file="$(find clover)/launch/clover.launch">
        <arg name="simulator" value="true"/>
        <arg name="fcu_conn" value="sitl"/>
        <arg name="fcu_ip" value="127.0.0.1"/>
        <arg name="gcs_bridge" value=""/>
        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="optical_flow" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
    </include>
</launch>