add launch file for configure the noise level on the mav odometry_sen…

…sor1

launch/spawn_mav_with_noise.launch

@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="mav_name" default="firefly"/>
+  <arg name="namespace" default="$(arg mav_name)"/>
+  <arg name="model" default="$(find rotors_description)/urdf/$(arg mav_name)_base.xacro"/>
+  <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+  <arg name="x" default="0.0"/>
+  <arg name="y" default="0.0"/>
+  <arg name="z" default="0.1"/>
+  <arg name="enable_logging" default="false"/>
+  <arg name="enable_ground_truth" default="true"/>
+  <arg name="log_file" default="$(arg mav_name)"/>
+  <arg name="wait_to_record_bag" default="false"/>
+  <arg name="enable_mavlink_interface" default="false"/>
+
+<!-- define noise for the odometry_sensor1 -->
+  <arg name="odom_normal_position_noise" default="0.2"/> <!-- m -->
+  <arg name="odom_normal_quaternion_noise" default="0.01235986666"/> <!-- rad-->
+  <arg name="odom_normal_linear_velocity_noise" default="0.2"/> <!-- m/s -->
+  <arg name="odom_normal_angular_velocity_noise" default="0.01745"/> <!-- rad/s -->
+
+
+  <!-- send the robot XML to param server -->
+  <param name="robot_description" command="
+    $(find xacro)/xacro '$(arg model)'
+    enable_logging:=$(arg enable_logging)
+    enable_ground_truth:=$(arg enable_ground_truth)
+    enable_mavlink_interface:=$(arg enable_mavlink_interface)
+    log_file:=$(arg log_file)
+    wait_to_record_bag:=$(arg wait_to_record_bag)
+    mav_name:=$(arg mav_name)
+    odom_normal_position_noise:=$(arg odom_normal_position_noise)
+    odom_normal_quaternion_noise:=$(arg odom_normal_quaternion_noise)
+    odom_normal_linear_velocity_noise:=$(arg odom_normal_linear_velocity_noise)
+    odom_normal_angular_velocity_noise:=$(arg odom_normal_angular_velocity_noise)
+    namespace:=$(arg namespace)"
+  />
+  <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_$(arg namespace)" pkg="gazebo_ros" type="spawn_model"
+   args="-param robot_description
+         -urdf
+         -x $(arg x)
+         -y $(arg y)
+         -z $(arg z)
+         -model $(arg namespace)"
+   respawn="false" output="screen">
+  </node>
+</launch>