mavlink · Ryujiyasu · May 17, 2022 · May 17, 2022 · May 17, 2022 · May 18, 2022
diff --git a/mavros/CMakeLists.txt b/mavros/CMakeLists.txt
@@ -200,7 +200,7 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-install(DIRECTORY launch
+install(DIRECTORY launch param
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/mavros/README.md b/mavros/README.md
@@ -115,16 +115,19 @@ Launch Files
 
 **XXX TODO**! #1564
 
-Launch files are provided for use with common FCUs, in particular [Pixhawk](pixhawk):
-
-  * [px4.launch](launch/px4.launch) -- for use with the PX4 Autopilot (for VTOL, multicopters and planes)
-  * [apm.launch](launch/apm.launch) -- for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)
 
 Examples:
 
-    roslaunch mavros px4.launch
-    roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@
+    ros2 launch mavros node.launch.py
 
+plugin_allowlist and plugin_denylist:
+
+    1. if ~plugin_denylist and ~plugin_allowlist is empty: load all
+    2. if ~plugin_denylist is empty and ~plugin_allowlist non empty: assume ~plugin_denylist as ["*"] (all)
+    3. if ~plugin_denylist non empty: usual denylist behavior
+    4. if ~plugin_allowlist non empty: override denylist
+    5. if ~plugin_allowlist non empty and ~plugin_denylist non empty but different: only denylist behavior
+
 
 Installation
 ------------

diff --git a/mavros/launch/apm.launch b/mavros/launch/apm.launch
diff --git a/mavros/launch/apm2.launch b/mavros/launch/apm2.launch
diff --git a/mavros/launch/apm_config.yaml b/mavros/launch/apm_config.yaml
diff --git a/mavros/launch/apm_pluginlists.yaml b/mavros/launch/apm_pluginlists.yaml