remaps for new PX4 version

ctu-mrs · Aug 1, 2023 · f09bf0f · f09bf0f
1 parent 9d5eb9d
commit f09bf0f
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/launch/control_manager.launch b/launch/control_manager.launch
@@ -12,6 +12,7 @@
   <arg name="WORLD_FILE" default="$(optenv WORLD_FILE)" />
   <arg name="WORLD_NAME" default="$(optenv WORLD_NAME)" />
   <arg name="LOGGER_DEBUG" default="$(optenv LOGGER_DEBUG false)" />
+	<arg name="OLD_PX4_FW" default="$(optenv OLD_PX4_FW false)" />
 
   <!-- other args -->
   <arg name="debug" default="false" />
@@ -220,7 +221,8 @@
       <remap from="~odometry_in" to="odometry/odom_main" />
       <remap from="~uav_state_in" to="odometry/uav_state" />
       <remap from="~odometry_innovation_in" to="odometry/odom_main_innovation" />
-      <remap from="~mavros_odometry_in" to="mavros/local_position/odom" />
+      <remap if="$(eval arg('OLD_PX4_FW') == 0)" from="~mavros_odometry_in" to="mavros/odometry/in" />
+      <remap if="$(eval arg('OLD_PX4_FW') == 1)" from="~mavros_odometry_in" to="mavros/local_position/odom" />
       <remap from="~mavros_gps_in" to="mavros/global_position/global" />
       <remap from="~max_height_in" to="odometry/max_altitude" />
       <remap from="~joystick_in" to="joy" />

diff --git a/launch/tf_manager.launch b/launch/tf_manager.launch
@@ -4,6 +4,7 @@
   <arg name="UAV_NAME" default="$(optenv UAV_NAME)" />
   <arg name="PROFILER" default="$(optenv PROFILER false)" />
   <arg name="LOGGER_DEBUG" default="$(optenv LOGGER_DEBUG false)" />
+	<arg name="OLD_PX4_FW" default="$(optenv OLD_PX4_FW false)" />
 
   <!-- other args -->
   <arg name="debug" default="false" />
@@ -40,7 +41,8 @@
       <param name="imu_mode" type="bool" value="$(arg imu_mode)" />
 
       <!-- Subscribers -->
-      <remap from="~odom_mavros_in" to="mavros/local_position/odom" />
+      <remap if="$(eval arg('OLD_PX4_FW') == 0)" from="~odom_mavros_in" to="mavros/odometry/in" />
+      <remap if="$(eval arg('OLD_PX4_FW') == 1)" from="~odom_mavros_in" to="mavros/local_position/odom" />
       <remap from="~imu_in" to="imu/data" />
 
       <!-- Publishers -->