<launch>

    <!-- vim: set ft=xml noet : -->

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

    <!--arg name="fcu_url" default="/dev/ttyACM0:57600" -->

    <arg name="fcu_url" default="udp://:14540@localhost:14557" />

    <arg name="gcs_url" default="" />

    <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>