iris_lidar_vertical.launch

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<?xml version="1.0"?>
<launch>

    <arg name="vehicle" default="iris_lidar_vertical"/>
    <arg name="model" default="$(find px4_simulation_stack)/Tools/sitl_gazebo/models/$(arg vehicle)/model.sdf"/>

    <arg name="verbose" default="false"/>

    <include file="$(find px4_simulation_stack)/launch/sitl/mavros_posix_sitl_remote_server.launch" >
        <arg name="vehicle" value="$(arg vehicle)" />
        <arg name="model" value="$(arg model)" />
        <arg name="verbose" value="$(arg verbose)" />
    </include>
    <include file="$(find px4_simulation_stack)/launch/gazebo/gzclient.launch" />

    <node pkg="tf" name="base2tf" type="static_transform_publisher" args="0.1 0 0 0 1.57 0 base_link lidar_link 100" />

</launch>

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