exploration_air.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="vehicle" default="A01" />
  <arg name="resolution" default="0.2" />
  <arg name="voxblox" default="false" />

  <group ns="$(arg vehicle)">
    <!-- Take off -->
    <node pkg="rostopic" type="rostopic" name="takeoff" args="pub /$(arg vehicle)/cmd_vel geometry_msgs/Twist -1 -- '[0, 0, 1]' '[0, 0, 0]'" />

    <group if="$(arg voxblox)">
      <include file="$(find msfm3d)/launch/msfm3d_ma_air_voxblox.launch">
        <arg name="resolution" value="$(arg resolution)" />
      </include>
    </group>

    <group unless="$(arg voxblox)">
      <include file="$(find ground_finder)/launch/octomap_to_edt.launch" />
      <include file="$(find msfm3d)/launch/msfm3d_ma_air.launch">
        <arg name="resolution" value="$(arg resolution)" />
      </include>
    </group>

    <!-- Delay guidance node so the aircraft takes off far enough -->
    <include file="$(find timed_roslaunch)/launch/timed_roslaunch.launch">
      <arg name="time" value="3" />
      <arg name="file" value="$(find marble_guidance)/launch/guidance_air.launch" />
    </include>
  </group>
</launch>