example.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="mav_name" default="firefly"/>
  <arg name="namespace" default="$(arg mav_name)" />

  <!-- It is good practice to use a system namespace so that multiple MAVs can be flown on the same network -->
  <!-- <group ns="$(arg namespace)" > -->

  <!-- Autopilot interface -->
  <node pkg="mavros" type="mavros_node" name="mavros" output="screen">
   <rosparam command="load" file="$(find mavros)/launch/px6_config.yaml" />
  </node>

 

  <!-- MPC converting trajectories into attitude and thrust commands -->
  <!-- <group ns="iris" >
  <node name="mav_linear_mpc" pkg="mav_linear_mpc" type="mav_linear_mpc_node" respawn="false" clear_params="true" output="screen">
    <rosparam file="$(find mav_linear_mpc)/resources/linear_mpc_iris.yaml"/>
<rosparam file="$(find mav_disturbance_observer)/resources/disturbance_observer_iris.yaml"/>
<param name="reference_frame" value="map" />
 <param name="use_rc_teleop" value="false" />
    <remap from="odometry" to="/mavros/local_position/odom" />
    <remap from="command/roll_pitch_yawrate_thrust" to="mavros/setpoint_raw/roll_pitch_yawrate_thrust"/>
    <param name="autopilot_interface" value="mavros"/>
  </node> -->
  
  <!-- </group> -->
</launch>