lm_frodo.launch

<launch>

    <arg name="namespace" default="Frodo" />
    <arg name="rviz_cfg"  default="-d $(find px4_control)/Extras/$(arg namespace)Inspection.rviz" />
    <arg name="launch_rviz" default="false" />

    <!-- MAVROS parameters -->
    <arg name="fcu_url" default="udp://:14531@192.168.1.31:14541"/>
    <arg name="gcs_url" default="" />
    <arg name="tgt_system" default="1" />
    <arg name="tgt_component" default="1" />
    <arg name="log_output" default="screen" />
    
    <!-- Launch nodes -->
    <group ns="$(arg namespace)">
        <!-- px4_control -->
        <include file="$(find px4_control)/launch/lm_group.launch"> 
            <arg name="namespace" value="$(arg namespace)" />
        </include>

        <!-- MAVROS -->
        <include file="$(find mavros)/launch/node.launch">
            <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
            <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="$(arg gcs_url)" />
            <arg name="tgt_system" value="$(arg tgt_system)" />
            <arg name="tgt_component" value="$(arg tgt_component)" />
            <arg name="log_output" value="$(arg log_output)" />
        </include>
    </group>

    <node name="frodo_joy" pkg="topic_tools" type="relay"
        args="/joy /$(arg namespace)/joy" />

    <!-- Launch RVIZ -->
    <group if="$(arg launch_rviz)">
        <node pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
    </group>

</launch>