<?xml version="1.0"?>
<launch>
    <!-- Posix SITL environment launch script -->
    <!-- launchs PX4 SITL and spawns vehicle -->
    <!-- vehicle pose -->
    <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="plane"/>
    <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"/>
    <arg name="mavlink_tcp_port" default="4560"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- generate sdf vehicle model -->
    <arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
    <param command="$(arg cmd)" name="model_description"/>
    <!-- PX4 SITL -->
    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
    </node>
    <!-- spawn vehicle -->
    <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>