mavros_sitl.launch

<launch>
    <arg name="viz" default="true"/>
    <arg name="respawn" default="true"/>
    <arg name="gcs_url" default="" />

    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
	<param name="fcu_url" value="udp://@192.168.56.1:14580"/>
	<param name="gcs_url" value="$(arg gcs_url)" />

        <!-- default px4 params -->
        <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>

        <!-- rangefinders -->
        <rosparam>
            distance_sensor:
                rangefinder_0:
                    id: 0
                    frame_id: "rangefinder"
                    orientation: PITCH_270
                    field_of_view: 0.5
                rangefinder_1:
                    id: 1
                    frame_id: "rangefinder"
                    orientation: PITCH_270
                    field_of_view: 0.5
                rangefinder_2_sub:
                    subscriber: true
                    id: 2
                    orientation: PITCH_270
                rangefinder_3_sub:
                    subscriber: true
                    id: 3
                    orientation: PITCH_270
        </rosparam>

        <!-- additional params -->
        <param name="local_position/frame_id" value="local_origin"/>
        <param name="local_position/tf/send" value="true"/>
        <param name="local_position/tf/frame_id" value="local_origin"/>
        <param name="local_position/tf/child_frame_id" value="fcu"/>
        <param name="global_position/tf/send" value="false"/>
        <param name="imu/frame_id" value="fcu"/>
        <rosparam param="plugin_blacklist">
            - safety_area
            - image_pub
            - vibration
            - rangefinder
            - 3dr_radio
            - actuator_control
            - hil_controls
            - vfr_hud
            - vision_speed_estimate
            - fake_gps
            - cam_imu_sync
            - hil
            - adsb
            - waypoint
            - obstacle_distance
            - setpoint_accel
            - trajectory
            - wind_estimation
            - home_position
        </rosparam>
    </node>

    <!-- Rangefinders frame -->
    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>

    <!-- Copter visualization -->
    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
        <remap to="mavros/local_position/pose" from="local_position"/>
        <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
        <param name="fixed_frame_id" value="local_origin"/>
        <param name="child_frame_id" value="fcu"/>
        <param name="marker_scale" value="1"/>
        <param name="max_track_size" value="20"/>
        <param name="num_rotors" value="4"/>
    </node>
</launch>