single_hexa_spawn.launch

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

  <arg name="x" default="0"/>
  <arg name="y" default="0"/>
  <arg name="z" default="0"/>
  <arg name="R" default="0"/>
  <arg name="P" default="0"/>
  <arg name="Y" default="0"/>

  <!-- vehcile model and config -->
  <arg name="est" default="ekf2"/>
  <arg name="vehicle" default="F550"/>
  <arg name="ID" default="1"/>
  <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
  <env name="PX4_ESTIMATOR" value="$(arg est)" />
  <arg name="mavlink_udp_port" default="14560"/>

  <!-- generate urdf vehicle model -->
  <arg name="xacro_file" default="$(find px4_simulation_stack)/Tools/sitl_gazebo/models/$(arg vehicle)/xacro/$(arg vehicle).xacro"/>
  <arg name="cmd" default="$(find xacro)/xacro $(arg xacro_file) mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>

  <include file="$(find px4)/launch/single_vehicle_spawn.launch">
      <arg name="x" value="$(arg x)" />
      <arg name="y" value="$(arg y)" />
      <arg name="z" value="$(arg z)" />
      <arg name="R" value="$(arg R)" />
      <arg name="P" value="$(arg P)" />
      <arg name="Y" value="$(arg Y)" />

      <arg name="est" value="$(arg est)"/>
      <arg name="vehicle" value="$(arg vehicle)"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="mavlink_udp_port" value="$(arg mavlink_udp_port)"/>
      <arg name="cmd" value="$(arg cmd)"/>
  </include>

</launch>