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Plugins for mavros 0.12-0.15

Standard plugin set for mavros version 0.12—0.15.

3dr_radio

Publish 3DR Radio status to diagnostics and topic.

Published Topics

~radio_status (mavros_msgs/RadioStatus)

actuator_control

Sends acruator commands to FCU. New in 0.11.0

Subscribed Topics

~actuator_control (mavros_msgs/ActuatorControl)

command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros_msgs/CommandLong) ~cmd/command_int (mavros_msgs/CommandInt) ~cmd/arming (mavros_msgs/CommandBool) ~cmd/set_home (mavros_msgs/CommandHome) ~cmd/guided_enable (mavros_msgs/CommandBool) ~cmd/takeoff (mavros_msgs/CommandTOL) ~cmd/land (mavros_msgs/CommandTOL) ~cmd/trigger_control (mavros_msgs/CommandTriggerControl)

Parameters

~cmd/use_comp_id_system_control (bool, default: false)

ftp

Support plugin for MAVLink-FTP (PX4).

Services

~ftp/open (mavros_msgs/FileOpen) ~ftp/close (mavros_msgs/FileClose) ~ftp/read (mavros_msgs/FileRead) ~ftp/write (mavros_msgs/FileWrite) ~ftp/list (mavros_msgs/FileList) ~ftp/truncate (mavros_msgs/FileTruncate) ~ftp/remove (mavros_msgs/FileRemove) ~ftp/rename (mavros_msgs/FileRename) ~ftp/mkdir (mavros_msgs/FileMakeDir) ~ftp/rmdir (mavros_msgs/FileRemoveDir) ~ftp/checksum (mavros_msgs/FileChecksum) ~ftp/reset (std_srvs/Empty)

global_position

Publish global position information fused by FCU and raw GPS data.

Published Topics

~global_position/global (sensor_msgs/NavSatFix) ~global_position/local (geometry_msgs/PoseWithCovarianceStamped) ~global_position/gp_vel (geometry_msgs/TwistStamped) ~global_position/rel_alt (std_msgs/Float64) ~global_position/compass_hdg (std_msgs/Float64) ~global_position/raw/fix (sensor_msgs/NavSatFix) ~global_position/raw/gps_vel (geometry_msgs/TwistStamped)

Parameters

~global_position/frame_id (string, default: fcu) ~global_position/tf/send (bool, default: true) ~global_position/tf/frame_id (string, default: local_origin) ~global_position/tf/child_frame_id (string, default: fcu_utm)

imu_pub

Publish IMU state

Published Topics

~imu/data (sensor_msgs/Imu) ~imu/data_raw (sensor_msgs/Imu) ~imu/mag (sensor_msgs/MagneticField) ~imu/temperature (sensor_msgs/Temperature) ~imu/atm_pressure (sensor_msgs/FluidPressure)

Parameters

~imu/frame_id (string, default: fcu) ~imu/linear_acceleration_stdev (double, default: 0.0003) ~imu/angular_velocity_stdev (double, default: !dec 0.02) ~imu/orientation_stdev (double, default: 1.0) ~imu/magnetic_stdev (double, default: 0.0)

local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

Published Topics

~local_position/local (geometry_msgs/PoseStamped)

Parameters

~local_position/frame_id (string, default: fcu) ~local_position/tf/send (bool, default: true) ~local_position/tf/frame_id (string, default: local_origin) ~local_position/tf/child_frame_id (string, default: fcu)

manual_control

Publish MANUAL_CONTROL message (user input). New in 0.15.0

Published Topics

~manual_control/control (mavros_msgs/ManualControl)

param

Allows to access to FCU parameters and map it to ROS parameters in ~param/.

Services

~param/pull (mavros_msgs/ParamPull) ~param/push (mavros_msgs/ParamPush) ~param/get (mavros_msgs/ParamGet) ~param/set (mavros_msgs/ParamSet)

rc_io

Publish RC receiver inputs.

Subscribed Topics

~rc/override (mavros_msgs/OverrideRCIn)

Published Topics

~rc/in (mavros_msgs/RCIn) ~rc/out (mavros_msgs/RCOut)

safety_area

Sends safety allowed area to FCU. Initial area can be loaded from parameters.

Subscribed Topics

~safety_area/set (geometry_msgs/PolygonStamped)

Parameters

~safety_area/p1/x (double) ~safety_area/p1/y (double) ~safety_area/p1/z (double) ~safety_area/p2/x (double) ~safety_area/p2/y (double) ~safety_area/p2/z (double)

setpoint_accel

Send acceleration setpoint.

Subscribed Topics

~setpoint_accel/accel (geometry_msgs/Vector3Stamped)

Parameters

~setpoint_accel/send_force (bool)

setpoint_attitude

Send attitude setpoint using SET_ATTITUDE_TARGET.

Subscribed Topics

~setpoint_attitude/cmd_vel (geometry_msgs/TwistStamped) ~setpoint_attitude/attitude (geometry_msgs/PoseStamped)

Parameters

~setpoint_attitude/reverse_throttle (bool, default: false) ~setpoint_attitude/tf/listen (bool, default: false) ~setpoint_attutude/tf/frame_id (string, default: local_origin) ~setpoint_attitude/tf/child_frame_id (string, default: attitude) ~setpoint_attitude/tf/rate_limit (double, default: 10.0)

setpoint_position

Sent position setpoint using SET_POSITION_TARGET_LOCAL_NED.

Subscribed Topics

~setpoint_position/local (geometry_msgs/PoseStamped)

Parameters

~setpoint_position/tf/listen (bool, default: false) ~setpoint_position/tf/frame_id (string, default: local_origin) ~setpoint_position/tf/child_frame_id (string, default: setpoint) ~setpoint_position/tf/rate_limit (double, default: 50.0)

setpoint_velocity

Send velocity setpoint to FCU.

Subscribed Topics

~setpoint_velocity/cmd_vel (geometry_msgs/TwistStamped)

sys_status

System status plugin. Handles FCU detection. REQUIRED never blacklist it!.

Published Topics

~state (mavros_msgs/State) ~battery (mavros_msgs/BatteryStatus)

Services

~set_stream_rate (mavros_msgs/StreamRate) ~set_mode (mavros_msgs/SetMode)

Parameters

~conn/timeout (double, default: 30.0) ~conn/heartbeat_rate (double, default: 0.0) ~sys/min_voltage (double, default: 6.0) ~sys/disable_diag (bool, default: false)

sys_time

System time plugin. Does time syncronization on PX4.

Published Topics

~time_reference (sensor_msgs/TimeReference)

Parameters

~conn/system_time_rate (double, default: 0.0) ~conn/timesync_rate (double, default: 0.0) ~time/time_ref_source (string, default: "fcu") ~time/timesync_avg_alpha (double, default: 0.6)

vfr_hud

Publish VFR_HUD and WIND messages.

Published Topics

~vfr_hud (mavros_msgs/VFR_HUD) ~wind_estimation (geometry_msgs/TwistStamped)

waypoint

Allows to access to FCU mission (waypoints).

Published Topics

~mission/waypoints (mavros_msgs/WaypointList)

Services

~mission/pull (mavros_msgs/WaypointPull) ~mission/push (mavros_msgs/WaypointPush) ~mission/clear (mavros_msgs/WaypointClear) ~mission/set_current (mavros_msgs/WaypointSetCurrent) ~mission/goto (mavros_msgs/WaypointGOTO)

Parameters

~mission/pull_after_gcs (bool, default: false)

Notes

Plugins: `vision_position` and `vision_speed` moved to mavros_extras. New in 0.13 GPS and global_position plugins are merged. TF params moved to tf/ subnamespace.


2019-10-12 12:48