Adding Custom Parameters to ROS2 SITL

ArduPlane
, ,
1

Hi, I installed Gazebo Garden and ROS2. I can succesfly fly with iris. However, I added a custom plane x-uav talon and flight was not great. I changed the parameters but I couldn’t find how to apply to ros2 launch system.

        launch_arguments={
            "command": "arduplane",	
            "transport": "udp4",
            "port": "2019",
            "synthetic_clock": "True",
            "wipe": "False",
            "model": "json",
            "speedup": "1",
            "slave": "0",
            "instance": "0",
            "defaults": os.path.join(
                pkg_ardupilot_sitl,
                "config",
                "default_params",
                "dds_udp.parm",
            ),
            "sim_address": "127.0.0.1",
            "master": "tcp:127.0.0.1:5760",
            "sitl": "127.0.0.1:5501",
        }.items(),
    )

I think I need to add parameters path here, I tried to name the variable “param” but it was not succesful. Which variable name should I use?

2

Supply a different value for “defaults” with the paths to your param files.

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